... hypotheses for the object dy-namics and for the data association. The presented tracking model achievesto successfully track the objects because it is able to compute and manageseveral hypotheses ... behaviors. Thisinteracting dynamic model allows to appropriately estimate a set of dataassociation hypotheses that are used for the estimation of the object tra-jectories. On the other hand, a Rao–Blackwellization ... However, this approachdiscards many feasible associations. On the other hand, the multiple hy-potheses tracker (MHT) [4,5] attempts to compute all the possible asso-ciations along the time....