“…We now replace the estimates O and B, given by expressions (3,4), in the cost function (2), obtaining an expression for the ML cost function C in terms of a single unknown-the moving object silhouette T, C(T). This is an huge difference from the approach in [13,14], where only the estimate O is replaced in (2), leading to an expression for the ML cost function C in terms of B and T, i.e., C(B, T).…”