“…In order to find the solution of the state-space model, the density function of the random processes can be chosen as parametric or non-parametric. The Kalman filter (KF)-based vehicle tracking is the most popular among the parametric approaches ( Chiverton, 2012;Shantaiya, Verma, & Mehta, 2015;Sivaraman & Trivedi, 2013 ), which obtains an analytical solution for tracking by assuming linear dynamics of vehicular movements and a Gaussian distributed intensity of vehicular objects ( Shalom, Li, & Kirubarajan, 2001 ). Due to the variations of traffic, weather or viewing conditions, the intensities of the vehicular objects may follow non-Gaussian statistics and the movements of vehicular objects may follow a non-linear dynamics.…”