Abstract—Weproposeanovelframeworkthatjointlyestimatesthegroundplaneandatarget’smotiontrajectory.Thisresultsinimprovementsforboth.EstimatingtheirjointposteriorisbasedonParticleMarkovChainMonteCarlo(ParticleMCMC).InPar-ticleMCMC,thebesttargetstateisinferredbyaparticlefilterandthebest