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This paper presents a prototype tracking system for tracking people in enclosed indoor environments where there is a high rate of occlusions. The system uses a stereo camera for acquisition, and is capable of disambiguating occlusions using a combination of depth map analysis, a two step ellipse fitting people detection process, the use of motion models and Kalman filters and a novel fit metric, based on computationally simple object statistics. Testing shows that our fit metric outperformsdoi:10.1109/isspa.2005.1581012 dblp:conf/isspa/DenmanCS05 fatcat:6ztjkavrvzg5ra526knubfjk4e