“…In complex traffic environments, the non-parametric approach that uses the Gaussian mixture density function ( Stauffer & Grimson, 1999 ), kernel-based mean-shift filter ( Comaniciu, Ramesh, & Meer, 2003 ), or the particle filter (PF) ( Aksel & Acton, 2010;Chan, Huang, Fu, Hsiao, & Lo, 2012;Isard & Blake, 1998a;1998b;Liu, Li, Wang, & Ni, 2015 ), has also been adopted to describe the nonlinear and non-Gaussian random processes of the moving objects. To improve the tracking performance, in addition to the pixel intensities of the moving objects, the color cues ( Barcellos, Bouvie, Escouto, & Scharcanski, 2015;Lehuger, Lechat, & Perez, 2006;Nummiaro, K-Meier, & Gool, 2002;Yin, Zhang, Sun, & Gu, 2011 ) or edge features ( Kumar & Sivanandam, 2012 ) have also been used in the traditional PF. Other statistical tracking algorithms include the nearest neighbor (NN), the multiple hypotheses tracking (MHT) ( Cox & Hingorani, 1996;Kim, Li, Ciptadi, & Rehg, 2015;Zulkifley & Moran, 2012 ) and the joint probabilistic data association filter (JPDAF) ( Shalom, Fortmann, & Cable, 1990 ).…”