Introduction to statistical pattern recognition (2nd ed.)
Introduction to statistical pattern recognition (2nd ed.)
Alignment by Maximization of Mutual Information
International Journal of Computer Vision
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Integrated Person Tracking Using Stereo, Color, and Pattern Detection
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Mean Shift: A Robust Approach Toward Feature Space Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
WACV '96 Proceedings of the 3rd IEEE Workshop on Applications of Computer Vision (WACV '96)
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
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A vision-based real-time human detection and tracking capability is one of the key components of surveillance systems, human computer interfaces and monitoring systems. In this paper, we propose a method which uses color and disparity information obtained with a stereo camera. In order to achieve optimal performance with respect to detection or tracking of objects, it is better to consider multiple features together. We have developed a tracking method in which color and disparity information can be combined in a histogram. We used skin color and disparity distribution information to distinguish between different people. For human tracking, we propose a color histogram that is weighted by the disparity distribution of the target. The proposed method is simple and robust for moving camera environments and overcomes the drawbacks of conventional color histogram-based tracking methods. Experimental results show the robustness of the proposed method in environments with changing backgrounds and the tracking capabilities of targets which have similar color distributions as backgrounds or other targets. The proposed method can be used in real-time mobile robot applications.