Function (, , , ∇ ) HOHCT-test (, , , ) | Input: | matching observations found | features observation prediction | innovation covariance matrix | ∇ observation Jacobian | Output: | matching observations found | features observation prediction | innovation covariance matrix | ∇ observation Jacobian | begin | m Number of Matches in | hyp // Grab all matches | if JointCompatible (hyp, , , ∇ , ) then | i 1 | while i m do // Hypothesis reducer loop | (hyp, ) HOHCT-Rec (m, , , , , , , ) | if JointCompatible (hyp, , ,, ) then | i m | else | i i + 1 | end if | end while | remove incompatible pairings from and | update jacobian and matrix | end if | return (, , , ) | Function (, ) HOHCT-Rec (m, , ,,, , , ) | Input: | m size of full hypothesis | size previously formed hypothesis | hypothesis built through recursion | matches yet to remove | Output: | best Hypothesis found from | best Mahalanobis distance | begin | if ( = ) or (m = ) then | | Mahalanobis (, ,∇ , ) | else | | Mahalanobis (, , ∇ , ) | for () : (m − + 1) do | () HOHCT-Rec (m, + 1, , , , , ∇ , ) | If (d < ) then | d | h | end if | 1 | + 1 | end for | end if | return (, ) |
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