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Heterogeneous sensor networks (HSNs) with multiple sensing modalities are gaining popularity in diverse fields. In this paper, we describe an approach for target tracking in urban environments utilizing a wireless HSN of mote class devices equipped with acoustic sensor boards and embedded PCs equipped with web cameras. Our system uses acoustic beamforming and motion detection for audio and video sensors, respectively. We also employ MCMCDA algorithm for data association and tracking. Experimental results from a deployment in an urban environment are used to demonstrate our approach.