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In this paper, we present a grid-based tracking by detection methodology, applied to 3D people tracking for multi-camera video surveillance. In particular, frame-by-frame detection is performed by means of hierarchical likelihood grids, using edge matching through the oriented distance transform on each camera view and a simple person model, followed by likelihood grids clustering in state-space. Subsequently, the tracking module performs a global nearest neighbor data association, in order to initiate, maintain and terminate tracks automatically. The proposed system can easily include additional features, such as color or background subtraction, it can be scaled to more camera views, and it can be used to track other items as well. We demonstrate it through experiments in indoor sequences, using a calibrated multi-camera setup.

MULTI-CAMERA PEOPLE TRACKING WITH HIERARCHICAL LIKELIHOOD GRIDS