Track-oriented MHT branching and branch history
System object™ is a track-oriented, multi-hypothesis tracking (MHT) branch history manager. The
object maintains a history of track branches (hypotheses) that are based on the results of an
assignment algorithm, such as the algorithm used by the
function. Given the most recent scan of a set of sensors, the assignment algorithm results include:
The assignments of sensor detections to specific track branches
The unassigned track branches
The unassigned detections
trackBranchHistory object creates, updates, and deletes track
branches as needed and maintains the track branch history for a specified number of scans.
Each track and branch stored in the object has a unique ID. To view a table of track branches
for the current history, use the
function. To compute branch clusters and incompatible branches, specify the track branch
history as an input to the
To create a branch history manager and update the branch history:
trackBranchHistory object and set its properties.
Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?.
branchHistoryMgr = trackBranchHistory
branchHistoryMgr, with default property values.
sets properties for the
branchHistoryMgr = trackBranchHistory(
trackBranchHistory object by using one or more
name-value pairs. For example,
trackBranchHistory('MaxNumTracks',250,'MaxNumTrackBranches',5) creates a
trackBranchHistory object that can maintain a maximum of 250 tracks and
5 track branches per track. Enclose property names in quotes. Specified property values
can be any numeric data type, but they must all be of the same data type.
Unless otherwise indicated, properties are nontunable, which means you cannot change their
values after calling the object. Objects lock when you call them, and the
release function unlocks them.
If a property is tunable, you can change its value at any time.
For more information on changing property values, see System Design in MATLAB Using System Objects.
MaxNumSensors— Maximum number of sensors
20(default) | positive integer
Maximum number of sensors, specified as a positive integer.
MaxNumHistoryScans— Maximum number of scans maintained in branch history
4(default) | positive integer
Maximum number of scans maintained in the branch history, specified as a positive integer. Typical values are from 2 to 6. Higher values increase the computational load.
MaxNumTracks— Maximum number of tracks
200(default) | positive integer
Maximum number of tracks that the branch history manager can maintain, specified as a positive integer.
MaxNumTrackBranches— Maximum number of branches per track
3(default) | positive integer
Maximum number of branches per track that the branch history manager can maintain, specified as a positive integer.
returns the branch history based on the results of an assignment algorithm. Specify the
assignments of detections to branches, the lists of unassigned tracks and unassigned
detections, and the IDs of the sensors from which the detections originated. The inputs
can be of any numeric data type.
history = branchHistoryMgr(
function returns assignment results as
uint32 values, but the inputs to
branchHistoryMgr can be of any numeric data type.
assignments— Assignment of track branches to detections
Assignment of track branches to detections, specified as a P-by-2 matrix of integers, where P is the number of assignments. The first column lists the track branch indices. The second column lists the detection indices. The same branch can be assigned to multiple detections. The same detection can be assigned to multiple branches.
For example, if
assignments = [1 1; 1 2; 2 1; 2 2], the rows of
assignments specify these assignments:
[1 1] — Branch 1 was assigned to detection 1.
[1 2] — Branch 1 was assigned to detection 2.
[2 1] — Branch 2 was assigned to detection 1.
[2 2] — Branch 2 was assigned to detection 2.
unassignedTracks— Indices of unassigned track branches
Indices of unassigned track branches, specified as a Q-by-1
vector of integers, where Q is the number of unassigned track
branches. Each element of
unassignedTracks must correspond to the
indices of a track branch currently stored in the
unassignedDetections— Indices of unassigned detections
Indices of unassigned detections, specified as an R-by-1 vector of integers, where R is the number of unassigned detections. Each unassigned detection results in a new track branch.
originatingSensor— Indices of sensors from which each detection originated
Indices of sensors from which each detection originated, specified as a
1-by-L vector of integers, where L is the
number of detections. The
ith element of
originatingSensor corresponds to the
SensorIndex property value of
history— Branch history
Branch history, returned as a matrix of integers.
Each row of
history represents a unique
history has 3+(D×S)
columns, where D is the number of maintained scans (the history depth) and
S is the maximum number of maintained sensors. The first three columns
represent the following information about each track branch:
TrackID — ID of the track that is associated with the branch.
Track branches that are assumed to have originated from the same target have the
same track ID. If a branch originates from an unassigned detection, that branch gets
a new track ID.
ParentID — ID of the parent branch, that is, the branch from
which the current branch originated. Branches that were created from the same parent
have the same
ParentID of 0
indicates a new track. These tracks are created from hypotheses corresponding to
BranchID — Unique ID of track branch. Every branch created from
an unassigned detection or assignment gets a new branch ID.
The remaining D×S columns
contain the IDs of the detections assigned to each branch. A branch can be assigned to at most
one detection per scan and per sensor. The table shows the organization of these columns with
sample detections. N is the number of scans. A value of
means that the sensor at that scan does not have a detection assigned to it.
|Scan N||Scan N – 1||. . .||Scan N – D|
|Sensor – 1||Sensor – 2||. . .||Sensor – S||Sensor – 1||Sensor – 2||. . .||Sensor – S||. . .||Sensor – 1||Sensor – 2||. . .||Sensor – S|
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named
Apply the results of an assignment algorithm to a track-oriented, multi-hypothesis tracking (MHT) branch history manager. View the resulting track branches (hypotheses).
Create the MHT branch history manager, which is a
trackBranchHistory System object™. Set the object to maintain a history of four sensors and two scans.
branchHistoryMgr = trackBranchHistory('MaxNumSensors',4,'MaxNumHistoryScans',2)
branchHistoryMgr = trackBranchHistory with properties: MaxNumSensors: 4 MaxNumHistoryScans: 2 MaxNumTracks: 200 MaxNumTrackBranches: 3
Update the branch history. Because the first update has no previous branches, the branch history manager contains only unassigned detections.
emptyAssignment = zeros(0,2,'uint32'); emptyUnassignment = zeros(0,1,'uint32'); unassignedDetections = uint32([1;2;3]); originatingSensor = [1 1 2]; history = branchHistoryMgr(emptyAssignment,emptyUnassignment, ... unassignedDetections,originatingSensor);
View the current branch history by using the
getHistory function. Each detection is assigned to a separate track.
ans=3×5 table TrackID ParentID BranchID Scan2 Scan1 Sensor1 Sensor2 Sensor3 Sensor4 Sensor1 Sensor2 Sensor3 Sensor4 _______ ________ ________ ________________________________________ ________________________________________ 1 0 1 1 0 0 0 0 0 0 0 2 0 2 2 0 0 0 0 0 0 0 3 0 3 0 3 0 0 0 0 0 0
Specify multiple branch assignments and multiple unassigned track branches and detections.
Assign branch 1 to detections 1 and 2.
Assign branch 2 to detections 1 and 2.
Consider track branches 1 and 3 unassigned.
Consider detections 1, 2, and 3 unassigned.
assignments = uint32([1 1; 1 2; 2 1; 2 2]); unassignedTracks = uint32([1;3]); unassignedDetections = uint32([1;2;3]);
Update the branch history manager with the assignments and unassigned tracks and detections.
history = branchHistoryMgr(assignments,unassignedTracks, ... unassignedDetections,originatingSensor);
View the updated branch history.
ans=9×5 table TrackID ParentID BranchID Scan2 Scan1 Sensor1 Sensor2 Sensor3 Sensor4 Sensor1 Sensor2 Sensor3 Sensor4 _______ ________ ________ ________________________________________ ________________________________________ 1 1 1 0 0 0 0 1 0 0 0 3 3 3 0 0 0 0 0 3 0 0 4 0 4 1 0 0 0 0 0 0 0 5 0 5 2 0 0 0 0 0 0 0 6 0 6 0 3 0 0 0 0 0 0 1 1 7 1 0 0 0 1 0 0 0 1 1 8 2 0 0 0 1 0 0 0 2 2 9 1 0 0 0 2 0 0 0 2 2 10 2 0 0 0 2 0 0 0
Inspect the branch history.
The most recent scan is Scan 2. The previous scan is Scan 1, which was Scan 2 in the previous assignment update. The history has shifted one scan to the right.
Branches 1 and 3 are the branches for the unassigned tracks.
Branch 2 is no longer in the history because it was not considered to be unassigned. Its assignment to detections 1 and 2 created branches 9 and 10.
Branches 4–6 are branches created for the unassigned detections.
Branches 7–10 are branches created for the track assignments.
 Werthmann, John R. "A Step-by-Step Description of a Computationally Efficient Version of Multiple Hypothesis Tracking." In Proceedings of SPIE Vol. 1698, Signal and Processing of Small Targets. 1992, pp. 288–300. doi: 10.1117/12.139379.