Background information/reference on analytics tracking schema

Background information/reference on analytics tracking schema

Hello, 

I am looking for information or literature describing the tracking algorithms used in the Analytics toolbox: 
Generic Tracking using Python — Metavision SDK Docs 4.4.0 documentation (prophesee.ai). I am specifically interested in the approaches used in the cluster formation and data association steps. Is there published literature that these approaches are based upon? 

Also, the spatter tracking algorithm is noted to be a lighter version of this other approach. Where do the approaches differ? Simply in cluster formation and data association since the former assumes non-collisions/occlusions?

Any help is appreciated, 

Jonah
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