1. A method for efficient and occlusion robust target detection from images captured by cameras, said method comprising the steps of: a) collecting information about geometric and calibration parameters regarding the capturing cameras; b) choosing a suitable numerical representation for the object's configuration to be recognized; c) selecting a geometric object model that is parameterized with the chosen numerical representation; d) implementing an image projection procedure that maps the object model onto an image according to a given state hypothesis; e) implementing a likelihood function between the rendered object model and image features that peaks on those object states that fit an un-occluded instance of the object in a real image; f) compiling, with the above calculated likelihood functions, the intermediate representations of detection probability maps, hereafter referred to as pixel support maps; (off-line method) g) processing, with the above calculated likelihood functions, a set of live images to provide the set up of detection probability maps from pixel support maps computed in step f) on a set of input images. (on-line method)