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. 2023 Mar 7:1–25. Online ahead of print. doi: 10.1007/s11042-023-14416-y

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© The Author(s) 2023

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Fig. 1 — Visual example of the proposed system operation. For each 2D detection, the best fitting 3D cylinder is estimated in real-world coordinates. After a 3D tracking step, the desired metrics are computed