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We describe a method for tracking animals in wildlife footage. It uses a CONDENSATION particle filtering framework driven by learnt characteristics of specific animals. The key contribution is a periodic model of animal motion based on the relative positions over time of trackable features at significant body points. We also introduce techniques for maintaining a multimodal state density within the particle filter over time to enable consistent tracking of multiple animals. Initial experimentsdoi:10.1109/icpr.2002.1048227 dblp:conf/icpr/TweedC02 fatcat:auggk5lqr5hhtmphfan5nscrru