US Patent 8098891 Efficient multi-hypothesis multi-human 3D tracking in crowded scenes

System and methods are disclosed to perform multi-human 3D tracking with a plurality of cameras. At each view, a module receives each camera output and provides 2D human detection candidates. A plurality of 2D tracking modules are connected to the CNNs, each 2D tracking module managing 2D tracking independently. A 3D tracking module is connected to the 2D tracking modules to receive promising 2D tracking hypotheses. The 3D tracking module selects trajectories from the 2D tracking modules to generate 3D tracking hypotheses.