Modified Murty's Algorithm for Diverse Multitarget Top Hypothesis Extraction

In most multiple hypothesis tracking (MHT) implementations, the data association is solved using Murty´s algorithm. However, since Murty´s algorithm has no control over the diversity of measurement-to-track associations, often, the top associations vary only slightly. To overcome this problem and to provide more flexibility in the selection of hypotheses, a modified Murty´s algorithm, which can achieve any user-defined (or adaptable) diversity of association of different types of tracks, is proposed.