def METHOD_NAME(self):
    id_detected = set()
    deperate_id = []
    for mot_id in self.action_history:
        self.action_history[mot_id]["life_remain"] -= 1
        if int(self.action_history[mot_id]["class"]) == 0:
            id_detected.add(mot_id)
        if self.action_history[mot_id]["life_remain"] == 0:
            deperate_id.append(mot_id)
    for mot_id in deperate_id:
        del (self.action_history[mot_id])
    return id_detected