Abstract
This paper proposes a human tracking system with a single camera and laser range scanners distributed in an intelligent space. The proposed system achieves three-dimensional tracking that handles vertical movement of human in addition to two-dimensional tracking with a laser range sensor. In the proposed system, particle filter is applied to integrate measurement results from a camera and laser range sensors. Likelihood of each particle in an image plane is calculated according to color histogram and three-dimensional information converted from camera parameters and two-dimensional position measured by laser range sensors.
