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We propose a novel approach to automatic detection and tracking of people taking different poses in cluttered and dynamic environments using a single RGB-D camera. The original RGB-D pixels are transformed to a novel point ensemble image (PEI), and we demonstrate that human detection and tracking in 3D space can be performed very effectively with this new(More)
This paper proposes a two-staged approach to real-time human detection in cluttered environments using RGB-D camera. The first stage is a novel physical blob (P-Blob) detection that can quickly find plausible human heads. The second stage uses a combination of human upper-body features to filter out false positives. Experiment results on three publicly(More)
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