Apparatus and method for detecting, classifying and tracking road users on frames of video data

An apparatus for detecting, classifying and tracking road users on a set of frames of a video data, comprising:

• an object detection unit that
• identifies an object in a frame of the video data, wherein the object is identified by finding an identifier associated with the object in the frame, and determines a class to which the object belongs to among a plurality of predetermined classes;
• a pre-filtering unit that determines whether the identifier associated to the object corresponds to a further identifier associated to the object in the frame of the video data when the identifiers overlap;
• and
• a tracking unit that matches the object to a corresponding object in at least one further frame of the video data as a sequence of matched objects, such that a path of the sequence of matched objects is tracked throughout the set of frames of the video data.