Patent ID: 8891825

Claim:
A computer-implemented method for tracking at least one object (U 1 , U 2 ) in a sequence of frames, each frame comprising a pixel array, wherein a depth measurement value is associated with each pixel ( 5 ), said method comprising the following steps: a) grouping at least some of said pixels ( 5 ) of each frame into several regions (R 1 , . . . , R 17 ); and b) grouping said regions (R 1 , . . . , R 17 ) into clusters (B 1 , . . . , B 5 ) of interconnected regions, said clusters (B 1 , . . . , B 5 ) of interconnected regions corresponding to said at least one object (U 1 , U 2 ); characterised in that the method further comprises the steps of: c) determining if at least one cluster (B 2 , . . . , B 5 ) having at least a first depth value and which is adjacent to another cluster (B 1 ) having another depth value in a two-dimensional projection belongs to an object (U 2 ) which is partially occluded by said other cluster (B 1 ) corresponding to another object (U 1 ) if said at least first depth value of said at least one cluster (B 2 , . . . , B 5 ) is higher than that of said other cluster (B 1 ); and d) determining if two clusters (B 2 , . . . , B 5 ) sharing adjacency to said other cluster (B 1 ) in said two-dimensional projection belong to said object (U 2 ) in accordance with said first depth values of said two clusters (B 2 , . . . , B 5 ) being within a predetermined range Δd 1 of one other.