Investigate Performance Improvements for the Vision Filter

[JNeiger]

The vision filter is at ~100% CPU usage. It's likely there is a bug internally that is causing excessive creation of new tracks instead of updating current tracks. Building out a debug state output should expose the specific issue very quickly.

Things to output

• Number of tracks for each object
• IMM weights at each step
• etc

[JNeiger]

Based on #117, it seems that we keep regenerating all the yellow robots every few seconds. I would expect them to stay more stable as they don't even move.