![](bg8.png)
for our particular problem, and hence improve track-
ing accuracy at the cost of some additional computa-
tional effort.
ACKNOWLEDGMENT
This work has been partially supported by the
Portuguese Foundation for Science and Tech-
nology (FCT) project [UID/EEA/50009/2013].
Rui Figueiredo is funded by FCT PhD grant
PD/BD/105779/2014.
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