Multi-target tracking "assignDet​ectionsToT​racks" function has unexpected results?

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cui,xingxing
cui,xingxing 2020-7-2
评论： cui,xingxing 2020-9-12
When I use the "assignDetectionsToTracks" function, the 5th (row) tracking is associated with the (1)th col detection, and the threshold(costOfNonAssignment=1) I set is 1, and there should be no correlation. Why?
cost = [2.62407,1.93346,4.28524,0.0126375;
1.34658,3.33612,0.769382,3.78107;
2.04141,0.012594,3.98619,1.92012;
3.35982,2.04044,5.14111,1.01901;
1.59666,3.05409,2.13898,2.69844;
4.54989,6.35886,3.17712,6.65899];
costOfNonAssignment = 1;
[assignment,unassignedTracks,unassignedDetections] = ...
assignDetectionsToTracks(cost,costOfNonAssignment)
assignment =
4×2 uint32 matrix
5 1
3 2
2 3
1 4
unassignedTracks =
2×1 uint32 column vector
4
6
unassignedDetections =
0×1 empty uint32 column vector
As can be seen from the result assignment, the fifth track is associated with the first detection data, and the cost between them is 1.59666, and the threshold I set is 1, the cost is greater than the threshold, why the fifth track Related to the first test? Shouldn’t it belong to unassignedTracks?

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Elad Kivelevitch
Elad Kivelevitch 2020-9-8
The fifth row / first column is associated because if these were not associated you would incure a cost of unassignment for both row and column, meaning 1+1 = 2. 2 is greater than 1.59666 so the assignment is favored instead of unasignment.
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Elad Kivelevitch
Elad Kivelevitch 2020-9-11
Yes, exactly.
Ignoring all the other assignments made for this assignment, there are two options to assign row 5 to column 1 or not to assign row 5 to column 1.
If you assign row 5 to column 1, you have a cost of 1.59666.
If you don't assign them, row 5 is unassigned and column 1 is unassigned. This unassignment has a cost of:
  • Not assigning row 5: cost = 1
  • Not assigning column 1: cost = 1
  • Total cost of not assigning row 5 and column 1 = 2
Since the cost of assignment is 1.59666 and the cost of not assiging is 2, the algorithm correctly chooses to assign.
If you want to change that, you can reduce the cost of unassignment to 0.5, which is the equivalent of what you're looking for.
cui,xingxing
cui,xingxing 2020-9-12
Thank you for your detailed explanation, 1+1=2, and the two 1s represent "unassignedTrackCost" and "unassignedDetectionCost" respectively. I can explain it by specifying the two costs in detail in the following way.
unassignedTrackCost = 0.5;
unassignedDetectionCost = 1;
[assignment,unassignedTracks,unassignedDetections] = ...
assignDetectionsToTracks(cost,unassignedTrackCost,unassignedDetectionCost)

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