I. INTRODUCTION
The state of the art in multi-person visual tracking has greatly improved in both speed and accuracy in recent years [1]–[3]. These improvements make multi-person trackers viable for use on realtime robotic platforms. However, utilizing multi-person tracking algorithms onboard autonomous robots, particularly in adverse conditions, is still an under-explored area [4]. In this paper, we propose a realtime multi-person tracker suitable for autonomous underwater robots.