Multiple discrete objects within a scene image captured by a single camera track are distinguished as un-labeled from a background model within a first frame of a video data input. Object position, object appearance and/or object size attributes are determined for each of the blobs, and costs determined to assign to existing blobs of existing object tracks as a function of the determined attributes. The un-labeled object blob that has a lowest cost of association with any of the existing object tracks is labeled with the label of that track having the lowest cost, said track is removed from consideration for labeling remaining un-labeled object blobs, and the process iteratively repeated until each of the track labels have been used to label one of the un-labeled blobs.
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