Algorithm 1 Multi-State Online Matching Algorithm.

Inputs:

$B=\{B^0,B^1,B^2,...,B^{T-1}\}=\{{\{b_0,b_1,...,b_{N-1}\}}^0,...,{\{b_0,b_1,...,b_{N-1}\}}^{T-1}\}$

Outputs:

$C_{final}$

1:   Initial: $C_{active}=B^1$, $C_{lost}=\varphi$, $C_{die}=\varphi$, $C_{final}=\varphi$

2:   for $t=2$ to $T-1$ do

3:    $Bt$ = NMS($B^t$)

4:    for ${\tau }_i\in C_{active}$ do

5:     $b_{best}=b_j$, where max(PTSN(${\tau }_i,b_j$)), $b_j\in B^t$

6:     if PTSN(${\tau }_i$, $b_j$) $\ge {\sigma }_{PTSN}$ then

7:       add $b_{best}$ to ${\tau }_i$ and remove $b_{best}$ from $B^t$

8:       predict $b_p$ from ${\tau }_i$ and add $b_p$ to $B^{t+1}$

9:     else

10:     move ${\tau }_i$ to $C_{lost}$

11:   end if

12:    end for

13:    for ${\tau }_i\in C_{lost}$ do

14:    $b_{best}$ = $b_j$ where max(PTSN(${\tau }_i,b_j$)), $b_j\in B^t$

15:    if PTSN(${\tau }_i,b_j$) $\ge {\sigma }_{PTSN}$ then

16:      add $b_{best}$ to ${\tau }_i$; remove $b_{best}$ from $B^t$ and move ${\tau }_i$ to $C_{active}$

17:      predict $b_p$ from ${\tau }_i$ and add $b_p$ to $B^{t+1}$

18:    else

19:      if $tim{e}_{waiting}\left({\tau }_i\right)\ge {\delta }_{waiting}$ then

20:        move ${\tau }_i$ to $C_{die}$

21:      end if

22:     end if

23:     for $b_j\in B^t$ do

24:      start a new tracklet with $b_j$ and insert it into $C_{lost}$

25:     end for

26:   end for

27:  end for

28:  for ${\tau }_i\in C_{active}$ do

29:     if $len\left({\tau }_i\right)\ge {\lambda }_{min}$ then

30:    add ${\tau }_i$ to $C_{final}$

31:     end if

32:  end for