Figure 6.

Size update and reference propagation of an object over associated detections with partial visibility. In $T_0$, we observe the object with no reliable features, so that its centroid is tagged as reference point. From $T_1$ to $T_3$, the object is visualized from a different perspective, and the reference is updated to the visible corner. In times $T_4$, $T_5$, $T_6$, the object is partially observed but, as it is matched during the fast-matching step, the old corner is propagated, and the reference point updated. Best viewed in color.