From: Multi-camera multi-object voxel-based Monte Carlo 3D tracking strategies
Feature
Expression
Weight
C i s v 3 ρ ρ = 1.1 [gr/cm3]
Centroid (z-axis)
C i - 1 ∑ v ∈ C i [ V ] z
Top
max V ∈ C i [ V ] z
Height
max V ∈ C i [ V ] z - max V ∈ C i [ V ] z
Bounding box
max max V ∈ C i [ V ] x - max V ∈ C i [ V ] x , max V ∈ C i [ V ] y - max V ∈ C i [ V ] y min max V ∈ C i [ V ] x - max V ∈ C i [ V ] x , max V ∈ C i [ V ] y - max V ∈ C i [ V ] y