An apparatus for tracking and identifying objects includes an audio likelihood module which determines corresponding audio likelihoods for each of a plurality of sounds received from corresponding different directions, each audio likelihood indicating a likelihood a sound is an object to be tracked; a video likelihood module which receives a video and determines video likelihoods for each of a plurality of images disposed in corresponding different directions in the video, each video likelihood indicating a likelihood that the image is an object to be tracked; and an identification and tracking module which determines correspondences between the audio likelihoods and the video likelihoods, if a correspondence is determined to exist between one of the audio likelihoods and one of the video likelihoods, identifies and tracks a corresponding one of the objects using each determined pair of audio and video likelihoods.