Multiple Object Tracking

We wrote a method to track multiple objects in the view scene. In the movie below, two different objects are identified as blue and black markers( from their original positions). Then they are tracked as being moved. However, the tracker sometimes has errors, for example, they can sometimes misidentify the blue one with the black one. The frame rate is also kinda low. Improving them. Trying to optimize the algorithm by estimating and tracking the mass center of each object.