Salari and Sethi SS90

Original reference: [10].
Additional assumptions: A speed limit and a cost limit are given. A trajectory is split if the cost or the speed exceed their limits.
Initialization: As in SJ87 (sec. 3.1), but within the distance defined by the speed limit.
Cost function: As in SJ87 (eq. (1)), for real points; for phantom points (see below), default values are used.
Linking strategy: As in SJ87 (sec. 3.1), but for both real and phantom points and trajectories. Phantom points have no location defined. They serve to form phantom trajectories and extend incomplete real trajectories to span all frames. Phantom trajectories assure that during the greedy exchange the smoothness remains within the prescribed limit.
Occlusion handling: None.