SCAAT looks to be a really great algorithm not just for tracking but for dealing with unconstrained systems in general. Its efficient, it seems to be more accurate than other existing algorithms, and heck even the rate at which estimates are generated is improved... Now the paper doesn't mention any short comings, but are there any that anyone can see?

Matt mentions the case where a single outlier might throw off the whole system. Now, wouldn't this single outlier have affected the accuracies of commercial systems also?