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We present a realtime tracking algorithm, RoadTrack, to track heterogeneous road-agents in dense traffic videos. ... RoadTrack operates in realtime at approximately 30 fps and is at least 4 times faster than prior tracking algorithms on standard tracking datasets. ... ACKNOWLEDGEMENTS This work was supported in part by ARO Grants W911NF1910069 and W911NF1910315, Semiconductor Research Corporation (SRC), and Intel. ...arXiv:1906.10712v3 fatcat:ruuyluq7nnhh3dzt72gv3xunei