Before revision:  We further provide solutions and propositions for the computational problems that need to be addressed to create a memory-efficient, real-time, online algorithm that can reason over multiple timesteps, correct previous mistakes, update beliefs, possess long-term memory, and handle missed/false detections.
After revision:  We also provide solutions and propositions for the computational problems that need to be addressed to create a memory-efficient, real-time, online algorithm that can reason over multiple timesteps, correct previous mistakes, update beliefs, possess long-term memory, and handle missed/false detections.