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.