  We introduce a novel, accurate and practical system for real-time people
tracking and identification. We used a Kinect V2 sensor for tracking that
generates a body skeleton for up to six people in the view. We perform
identification using both Kinect and passive RFID, by first measuring the
velocity vector of person's skeleton and of their RFID tag using the position
of the RFID reader antennas as reference points and then finding the best match
between skeletons and tags. We introduce a method for synchronizing Kinect
data, which is captured regularly, with irregular or missing RFID data
readouts. Our experiments show centimeter-level people tracking resolution with
80% average identification accuracy for up to six people in indoor
environments, which meets the needs of many applications. Our system can
preserve user privacy and work with different lighting.
