| 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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