Multitarget Tracking with Spatial Nonmaximum Suppressed Sensor Selection

Algorithm 3

Spatial nonmaximum suppression (greedy).

Input:  , suppression gate

 (1) ,

 (2) sort given in descending order

 (3) while    do

 (4)  take the first point from

 (5)  for    do

 (6)   if    then

 (7)    remove from ;

 (8)    

 (9)   end if

 (10) end for

 (11) end while

Output: