Object tracking based on clustering of tracklets

An apparatus comprising:

• one or more memories;
• and
• one or more processors, coupled to the one or more memories, configured to cause the apparatus to:
• detect one or more objects in a first set of frames associated with a first period of time;
• generate a plurality of first tracklets, wherein each respective first tracklet of the plurality of first tracklets comprises a respective sequence of states associated with a respective object of the one or more objects over the first period of time, the respective sequence of states representing a respective first trajectory for the respective object over the first period of time;
• cluster two or more first tracklets of the plurality of first tracklets into one or more first clustered tracklets;
• and
• determine a second trajectory for a set of the one or more objects over a second period of time based on a first clustered tracklet of the one or more first clustered tracklets.