A tracking system is used to determine geoposition of an object, such as a person, using images from a 2-D camera, in which pixels in the 2-D image have been assigned a 3-D position by pairing the camera image with a spatial model. A spatial model can be provided by a suitable 3-D imaging device, such as but not limited to a LiDAR system, though other types of spatial imagers are contemplated. The tracking system can use geoposition data to aid in reidentification of a person across multiple cameras, as well as determine behavior of people that are being tracked.