diff --git a/3rdparty/ds_pedestrian_mot_hisi/include/ds_pedestrian_mot_hisi.h b/3rdparty/ds_pedestrian_mot_hisi/include/ds_pedestrian_mot_hisi.h
new file mode 100644
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--- /dev/null
+++ b/3rdparty/ds_pedestrian_mot_hisi/include/ds_pedestrian_mot_hisi.h
@@ -0,0 +1,148 @@
+/*
+ * @Author: Alfred Xiang Wu
+ * @Date: 2022-11-20 22:18:49
+ * @Breif: 
+ * @Last Modified by: Alfred Xiang Wu
+ * @Last Modified time: 2023-09-19 22:32:56
+ */
+
+
+#ifndef _DS_PEDESTRIAN_MOT_HISI_H_
+#define _DS_PEDESTRIAN_MOT_HISI_H_
+
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+#include <stdint.h>  // int64_t
+
+#define RW_LICENSE_CHECK
+
+#if defined _WINDOWS && !(defined _LIB)
+    #ifdef DS_PEDESTRIAN_MOT_HISI_EXPORTS
+        #define DS_PEDESTRIAN_MOT_HISI_API __declspec(dllexport)
+    #else
+        #define DS_PEDESTRIAN_MOT_HISI_API __declspec(dllimport)
+    #endif
+#else
+    #define DS_PEDESTRIAN_MOT_HISI_API
+#endif
+
+typedef void* DS_PEDESTRIAN_MOT_HANDLE;
+
+// for detection
+typedef struct PedestrianRect {
+    // pedestrian bbox
+    float xmin;
+    float ymin;
+    float xmax;
+    float ymax;
+
+    // head bbox
+    float h_xmin;
+    float h_ymin;
+    float h_xmax;
+    float h_ymax;
+
+    float score;
+    int label;
+} PedestrianRect;
+
+// for tracking
+typedef struct io_MEASURE {
+    std::vector<float> state;       // bbox: xmin, ymin, xmax, ymax
+    int frame;                      // frame id
+    float conf;                     // confidence for bbox
+} io_MEASURE;
+
+typedef struct io_person {
+    io_MEASURE head;                // head bbox (don't use head bbox for any analysis.)
+    io_MEASURE body;                // body bbox
+    int tracked = 0;                // track state
+
+    float quality_score = 0.0;      // quality scores
+} io_person;
+
+typedef struct io_TrackData {
+    int track_id;                   // track id
+    int track_state;                // track state: 0 pre-track; +1 confirmed; -1 hibernate; -2 remove;
+    
+    io_person prediction;           // bbox at the current frame (If track_state != 1, prediction is empty.)
+} io_TrackData;
+
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#ifdef RW_LICENSE_CHECK
+    DS_PEDESTRIAN_MOT_HISI_API void ds_pedestrian_hisi_set_lic_path(const char *path);
+#endif // RW_LICENSE_CHECK
+
+    
+    /**
+     * The function is used to initialize the pedestrian detection and tracking handle.
+     * 
+     * @param handle the handle
+     * @param det_model_path The path to the pedestrian detection model.
+     * @param reid_model_path the path of the pedestrian tracking reid model
+     * @param width width of the input image
+     * @param height the height of the input image
+     * @param channels the number of channels of the input image, It must be 3 channels.
+     * 
+     * @return A handle for the pedestrian detection and tracking.
+     */
+    DS_PEDESTRIAN_MOT_HISI_API int ds_pedestrian_hisi_init(
+            DS_PEDESTRIAN_MOT_HANDLE* handle, 
+            char* det_model_path,
+            char* reid_model_path,
+            const int width,
+            const int height,
+            const int channels);
+
+    /**
+     * The function is the interface function for pedestrian detection.
+     * 
+     * @param handle The handle.
+     * @param bboxes the output of the pedestrian detection model, which is a vector of PedestrianRect.
+     * 
+     * @return the bounding boxes of the detected pedestrians.
+     */
+    DS_PEDESTRIAN_MOT_HISI_API int ds_pedestrian_det_hisi(
+        DS_PEDESTRIAN_MOT_HANDLE handle, 
+        unsigned char* img,
+        std::vector<PedestrianRect> &bboxes);
+
+    /**
+     * The function is the interface function for pedestrian tracking.
+     * 
+     * @param handle The handle.
+     * @param nframe the frame number of the current frame
+     * @param det_bboxes the detection results of the current frame, which is a vector of PedestrianRect.
+     * @param tracks the output of the tracking results, which is a vector of io_TrackData.
+     * 
+     * @return the number of tracks.
+     */
+    DS_PEDESTRIAN_MOT_HISI_API int ds_pedestrian_track_hisi(
+        DS_PEDESTRIAN_MOT_HANDLE handle, 
+        unsigned char* img,
+        const int nframe, 
+        std::vector<PedestrianRect> det_bboxes, 
+        std::vector<io_TrackData> &tracks);
+
+    /**
+     * It releases the resources allocated in the initialization function.
+     * 
+     * @param handle The handle.
+     * 
+     * @return The handle.
+     */
+    DS_PEDESTRIAN_MOT_HISI_API int ds_pedestrian_hisi_release(
+        DS_PEDESTRIAN_MOT_HANDLE *handle);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _DS_PEDESTRIAN_MOT_HISI_H_
\ No newline at end of file
diff --git a/3rdparty/ds_pedestrian_mot_hisi/libs/libds_pedestrian_mot_Hi3516DV500.so b/3rdparty/ds_pedestrian_mot_hisi/libs/libds_pedestrian_mot_Hi3516DV500.so
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