Previously, a variety of pedestrian tracking methods for different sensing sys-tems have been studied. However, with limited methods of effectively com-paring the tracking performance using different systems, it is difficult to under-stand the performance gap of vision-only sensing system in pedestrian trackingunder the criteria of real-world applications. We propose a general multi-sensorpipeline that allows vison-only tracking to be directly compared with LiDAR-vision integrated tracking. The pipeline supports switching among differentsensing systems by transferring image-based depth information into 3-D pointcloud through Pseudo-LiDAR. Furthermore, by processing vision-only sensingdata through the proposed pipeline, we show that vision-only sensing systemachieves performance close to LiDAR for pedestrian tracking in 3-D space.