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In recent years, various indoor tracking and localization approaches for usage in conjunction with Pervasive Computing systems have been proposed. In a nutshell, three categories of localization methods can be identified, namely active marker-based solutions, passive marker-based solutions, and marker-free solutions. Both active and passive marker-based solutions require a person to carry some type of tagging item in order to function, which, for a multitude of reasons, makes them less favorable than marker-free solutions, which are capable of localizing persons without additional accessories. In this work, we present a marker-free, camera-based approach for use in typical indoor environments that has been designed for reliability and cost-effectiveness. We were able to successfully evaluate the system with two persons and initial tests promise the potential to increase the number of users that can be simultaneously tracked even further

Marker-Free Indoor Localization and Tracking of Multiple Users in Smart Environments Using a Camera-Based Approach