Figure 3

An example of the PMFs defined by ( 10 )–( 15 ). Given an observation of $v\in \{\dot{d},\dot{p}\}$ or d, the functions model the probability that the observation was generated from the state pertaining to each function. (a) shows examples of velocity-based component PMFs (10)–(12) with parameter σ _v = 1. (b) shows examples of diameter-based component PMFs (13)–(15) with parameters σ _d = 1, μ _d = 8, and min _d = 0.