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A system-level approach for indoor surveillance of objects using cricket motes and PTZ cameras is presented in this paper. The objects to be tracked carry a listener mote with beacon motes mounted on the ceiling. The positions and orientation of the object received from the Cricket motes are used to calculate the pan, tilt and zoom of the camera which constantly track the moving object. The extended Kalman filter based approach is used to estimate the position of the objects in the absence of line of sight communication of the motes for limited amount of time.