Detection of body and props

One or more storage devices containing processor readable code for programming one or more processors to perform a method comprising the steps of:

• acquiring one or more depth images from one or more depth sensing image sensors, a first depth image of the one or more depth images includes a plurality of pixels;
• generating a classification map associated with the first depth image, the step of generating includes assigning to one or more pixels of the plurality of pixels a probability that the one or more pixels is associated with a particular target of one or more targets, the one or more targets include a first target representing at least a portion of a first body part and a second target representing at least a portion of a first prop;
• performing skeletal tracking on the first target, the step of performing skeletal tracking includes receiving position information regarding the second target, the position information is taken into consideration when determining a first position of the first target;
• performing prop tracking on the second target, the step of performing prop tracking includes receiving position information regarding the first target, the position information is taken into consideration when determining a second position of the second target;
• and
• reporting the first position of the first target and the second position of the second target.