Method and controller for tracking moving objects

A controller for tracking objects in an environment of an event, each moving object comprising an associated identity marking and different key portions, the controller comprising a processor and a non-transitory computer-readable medium, configured to store instructions, which when executed by the processor, cause the controller to:

• receive images from a camera having a field-of-view in a section of the environment,
• identify moving objects in the received images and separate these moving objects from a background of the environment,
• determine position coordinates of the associated identity markings and the different key portions of each moving object,
• receive a first set of data points representing position coordinates in a field of view of a first Light Detection And Ranging, LIDAR, device,
• receive a second set of data points representing position coordinates in a field of view of a second LIDAR device, the field of view of the second LIDAR device is partly overlapping the field of view of the first LIDAR device,
• separate data points representing the moving objects from data points representing a background for each of the first and the second set of data points,
• calculate a weighted mean value for the position coordinates of the moving objects based on the first and second set of data points giving more weight to the set of data points that represents moving objects closest to one of the first and second LIDAR device, and
• reconstruct the position in the environment and the associated identity marking for the moving objects in a particular point of time.