Figure 3

Example for the cardinality reduction of . For a given time t, only one target needs to be found; thus, $\mathbb{P}(H_t)$ reduces to ${\mathcal{P}}_{N_1}(H_t)$. The resultant search space is illustrated in column ${\mathcal{P}}_{N_1}(H_t)$, containing only combinations of two blobs. The red blob detections do not satisfy the epipolar constraint (illustrated via red epipolar lines). In addition, the kinetic costs exceed the limit (indicated by the search sphere around the red blob). Thus, the cardinality of ${\mathcal{P}}_{N_1}(H_t)$ further decreases to ${\mathcal{P}}_{N_1}({\mathfrak{H}}_t)$, containing a single unique pairing.