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This paper presents a corner-based method for tracking objects in video image frames. The method uses a vectorial shape representation based on relative object main corners positions and a non-linear voting method to evaluating the new object position at each iteration. The initialization consists of individuating an area including the object to be tracked. Information of the corners distribution around a reference point is used to find the most probable target position in the next frame. The method can be used in both fixed and mobile cameras both for vehicles and pedestrians.