Hi all,

This pseudo-code description of Bayesian tracking (without a motion model) might help some people:

P(o|m) = observation probability distribution
P(m) = initial prior
While not done {
  Calculate P(m|o) using P(m), P(o|m) and Bayes' rule (and trick where we normalise instead of calculating P(o))
  P(m) = P(m|o)  # move on to next timestep
}

Will