  An algorithm for the estimation of multiple targets from partial and
corrupted observations is introduced based on the concept of
partially-distinguishable multi-target system. It combines the advantages of
engineering solutions like MHT with the rigour of point-process-based methods.
It is demonstrated that under intuitive assumptions and approximations, the
complexity of the proposed multi-target estimation algorithm can be made linear
in the number of tracks and linear in the number of observations, while
naturally preserving distinct tracks for detected targets, unlike
point-process-based methods.
