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What are you tracking? (Could you show an example image?) I assume that the ordering of the contours is rather stable, but as there is no tracking you shouldn't rely on that. Your problem is a rather standard one, so that you should find many approaches. One keyword is "multi object tracking" where you have tracks of individual objects to which you need to assign new observations. Your a-priori information can probably be used to predict the position of your observations. A standard technique for assigning tracks to observation is the hungarian method. The next point would be to track your features using a kalman filter so that you can explicitly compute the likelihood that an observation belongs to a track.

What are you tracking? (Could you show an example image?) I assume that the ordering of the contours is rather stable, but as there is no tracking you shouldn't rely on that. Your problem is a rather standard one, so that you should find many approaches. One keyword is "multi object tracking" where you have tracks of individual objects to which you need to assign new observations. Your a-priori information can probably be used to predict the position of your observations. A standard technique for assigning tracks to observation is the hungarian method. The next point would be to track your features using a kalman filter so that you can explicitly compute the likelihood that an observation belongs to a track.