Assignment using auction global nearest neighbor
[
returns a table ofassignments
,unassignedrows
,unassignedcolumns
] = assignauction(costmatrix
,costofnonassignment
)assignments
of detections to tracks derived based on the forward/reverse auction algorithm. The auction algorithm finds a suboptimal solution to the global nearest neighbor (GNN) assignment problem by minimizing the total cost of assignment. While suboptimal, the auction algorithm is faster than the Munkres algorithm for large GNN assignment problems, for example, when there are more than 50 rows and columns in the cost matrix.
The cost of each potential assignment is contained in the cost matrix,costmatrix
. Each matrix entry represents the cost of a possible assignments. Matrix rows represent tracks and columns represent detections. All possible assignments are represented in the cost matrix. The lower the cost, the more likely the assignment is to be made. Each track can be assigned to at most one detection and each detection can be assigned to at most one track. If the number of rows is greater than the number of columns, some tracks are unassigned. If the number of columns is greater than the number of rows, some detections are unassigned. You can set an entry ofcostmatrix
toInf
to prohibit an assignment.
costofnonassignment
represents the cost of leaving tracks or detections unassigned. Higher values increase the likelihood that every existing object is assigned.
The function returns a list of unassigned tracks,unassignedrows
, and a list of unassigned detections,unassignedcolumns
.
[1] Samuel S. Blackman and Popoli, R.Design and Analysis of Modern Tracking Systems. Artech House: Norwood, MA. 1999.