1. A computer-implemented method for creating a histogram of oriented occurrences (HO2), the method being executed by at least one processor, comprising the steps of: (a) detecting and tracking a plurality of entities in at least one image; (b) designating one of the plurality of entities as a reference entity; (c) defining a local 2-dimensional ground plane coordinate system centered on and oriented with respect to the reference entity; and (d) partitioning the 2-dimensional ground plane into a plurality of non-overlapping bins, the bins forming a histogram, a bin tracking a number of occurrences of an entity class.