... close to the image borders. Finally, for i/= j, the energy terms are zero for present targets that are sufficiently apart from each other and, therefore, most of the time, they do not affect the computa-tion ... energ y term. On the other hand, for zn= 0,p (y n| sn, zn) reduces to the likelihood of the absent targetstate, which corresponds to the probability density function of y nassuming that the ... the mixed posterior p(sn, zn| y 1:n).Next, let H1denote the hypothesis that the target of interestis present in the scene at frame n. Conversely, let H0denote the hypothesis that the...