Kinematic invariant-space maximum entropy tracker (KISMET)

An apparatus for tracking objects comprising:

• at least one memory;
• and
• at least one processor coupled to the at least one memory, the at least one processor configured:
• to receive, from a dynamical system with a first set of sensors, a first set of unlabeled measurements for one or more objects in motion for at least a portion of an observation period, each of the first set of unlabeled measurements being a function of time;
• to determine a set of candidate tracks for the one or more objects by identifying one or more clusters of unlabeled measurements of the first set of unlabeled measurements;
• to compute probabilities of each of the first set of unlabeled measurements being assigned to each of the set of candidate tracks;
• to determine an assignment of a candidate track from the set of candidate tracks for each of the one or more objects based on a joint probability distribution of track attributes and the computed probabilities of each of the first set of unlabeled measurements being assigned to each of the set of candidate tracks;
• and
• to track a position of the one or more objects, using a second set of sensors, subsequent to the observation period based at least in part on the assignment of the candidate track for each of the one or more objects.