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Kalman filters were used for establishing relations between objects moving in video frames to the real moving objects under analysis. As a result of applying some popular methods of moving objects detection, the objects were represented by rectangles. A two-dimensional colour histogram based on a chromatic space was used for each object in experiments. The objects coupling with adequate regions including the relation of many-to-many was studied experimentally employing Kalman filters. The implemented algorithm provides a part of an advanced audio-video surveillance system for security applications.
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Czyżewski et al. (2008) studied this question.