What is the algorithm of multi-hypothesis tracking method mht?

MHT algorithm is a multi-hypothesis and multi-target tracking algorithm. Simply put, this method is to track all the targets. After several frames of continuous tracking, some assumptions were untenable and were "pruned". The rest is the real target tracking. Obviously, this method works well in an ideal situation, but when the number of targets is large, the amount of calculation will increase exponentially.

Corresponding to it is another algorithm, Joint Probabilistic Data Association Algorithm (JPDA). The basic idea of this traditional tracking algorithm is to give each detection target an association probability with the tracking path, and match the detection result with the tracking path with high association probability. The algorithm is practical in noisy environment. But there are also speed bottlenecks.