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This paper presents a wireless distributed pyroelectric sensor system for tracking and identifying multiple humans based on their body heat radiation. This study aims to make pyroelectric sensors a low-cost alternative to infrared video sensors in thermal gait biometric applications. In this system, the sensor field of view (FOV) is specifically modulated with Fresnel lens arrays for functionality of tracking or identification, and the sensor deployment is chosen to facilitate the process of data-object-association. An Expectation-Maximization-Bayesian tracking scheme is proposed and implemented among slave, master, and host modules of a prototype system. Information fusion schemes are developed to improve the system identification performance for both individuals and multiple subjects. The fusion of thermal gait biometric information measured by multiple nodes is tested at four levels: sample, feature, score, and decision. Experimentally, the prototype system is able to simultaneously track two individuals in both follow-up and crossover scenarios with average tracking errors less than 0.5 m. The experimental results also demonstrate system's potential to be a reliable biometric system for the verification/identification of a small group of human subjects. The developed wireless distributed infrared sensor system can run as a standalone prisoner/patient monitoring system under any illumination conditions, as well as a complement for conventional video and audio human tracking and identification systems.