def METHOD_NAME(xAug, PAug, zi):
    """
    Landmark association with Mahalanobis distance
    """
    nLM = calc_n_lm(xAug)
    min_dist = []
    for i in range(nLM):
        lm = get_landmark_position_from_state(xAug, i)
        y, S, H = calc_innovation(lm, xAug, PAug, zi, i)
        min_dist.append(y.T @ np.linalg.inv(S) @ y)
    min_dist.append(M_DIST_TH)  # new landmark
    min_id = min_dist.index(min(min_dist))
    return min_id