Overlaid with some data in addition to the usual circles:
Color of the circle represents the type: green – moving, yellow – stopped, orange – stationary, red unknown.
Size of the circle represents the distance to the object (NOT THE SIZE OF THE OBJECT). If my assumptions are correct you should imagine that the circle has about 1.5~2m diameter in 3D space in place of the object (but it does not get smaller than 100 pixels).
When it is drawn with thicker line that means it has a label and most likely the object is being tracked. When it fades in and out it is caused by changing probability of existence.
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