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Take a look at "Detection and Tracking of Multiple, Partially Occluded Humans by Bayesian Combination of Edgelet based Part Detectors" by Wu and Nevatia, here: http://iris.usc.edu/Outlines/papers/2007/wu-nevatia-ijcv07.pdf . This looks like the most practical, hands-on algorithm that I found. I do not know if it is ready to be used out of the box. The safest thing to do would be to take this algorithm as a goal, and make a roadmap of how you would evolve from the simplest detection and tracking algorithm towards that goal. Once you implement that simplest algorithm, take a look at the results, see where the failure modes are. Go on with your plan if it makes sense, or redo it given the new information you uncovered. I know it sounds risky, but the guys who wrote this are good, and with a bit of skill and luck you will get your algorithm soon enough.
HTH
