Assign detections to tracks for multiobject tracking

`[assignments,unassignedTracks,unassignedDetections] = assignDetectionsToTracks( costMatrix,costOfNonAssignment)`

example`[assignments,unassignedTracks,unassignedDetections] = assignDetectionsToTracks(costMatrix, unassignedTrackCost,unassignedDetectionCost)`

`[`

assigns
detections to tracks in the context of multiple object tracking using
the James Munkres's variant of the Hungarian assignment algorithm.
It also determines which tracks are missing and which detections should
begin new tracks. It returns the indices of assigned and unassigned
tracks, and unassigned detections. The `assignments`

,`unassignedTracks`

,`unassignedDetections`

]
= assignDetectionsToTracks( `costMatrix`

,`costOfNonAssignment`

)`costMatrix`

must
be an *M*-by-*N* matrix. In this
matrix, *M* represents the number of tracks, and *N* is
the number of detections. Each value represents the cost of assigning
the *N*^{th} detection to
the *M*^{th} track. The lower
the cost, the more likely that a detection gets assigned to a track.
The `costOfNonAssignment`

scalar input represents
the cost of a track or a detection remaining unassigned.

`[`

specifies
the cost of unassigned tracks and detections separately. The `assignments`

,`unassignedTracks`

,`unassignedDetections`

]
= assignDetectionsToTracks(`costMatrix`

, `unassignedTrackCost`

,`unassignedDetectionCost`

)`unassignedTrackCost`

must
be a scalar value, or an *M*-element vector, where *M* represents
the number of tracks. For the *M*-element vector,
each element represents the cost of not assigning any detection to
that track. The `unassignedDetectionCost`

must
be a scalar value or an *N*-element vector, where *N* represents
the number of detections.

**Code Generation Support:**

Compile-time
constant input: No restriction

Supports MATLAB Function
block: Yes

Code Generation Support, Usage Notes, and Limitations

[1] Miller, Matt L., Harold S. Stone, and Ingemar J. Cox,
"Optimizing Murty's Ranked Assignment Method," *IEEE
Transactions on Aerospace and Electronic Systems*, 33(3),
1997.

[2] Munkres, James, "Algorithms for Assignment and
Transportation Problems," *Journal of the Society
for Industrial and Applied Mathematics*, Volume 5, Number
1, March, 1957.

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