+/* Blob (foreground-pixel connected-component) tracking with collision resolution.
+ *
+ * For entrypoints into the literature see:
+ *
+ * A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking
+ * Arulampalam &t al, 2001, 15p
+ * http://www-clmc.usc.edu/publications/A/arulampalam-TSP2002.pdf
+ *
+ * Particle Filters for Positioning, Navigation, and Tracking
+ * Gustafsson et al, 2002 12p
+ * http://www.control.isy.liu.se/~fredrik/reports/01SPpf4pos.pdf
+ *
+ * Particle Filtering in High Clutter Environments
+ * Korhonen et al, 2005 4p
+ * http://www.cs.uku.fi/finsig05/papers/paper26_FINSIG05.pdf
+ *
+ * Appearance Models for Occlusion Handling
+ * Andrew Senior &t al, 8p 2001
+ * http://www.research.ibm.com/peoplevision/PETS2001.pdf
+ *
+ */
+