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According to Fig. [*], a tracking sequence should be initiated by detecting the target object. In [4] it is proposed that selectors should be employed which are defined as heuristics that selects regions possibly occupied by the target. Based on this ideas, color and image differences are used to detect the target in the first image. These two cues are also used in cases where the target has either i) left the field of view, or ii) it was occluded for a few frames.

Danica Kragic 2002-12-06