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We propose a method for real-time people tracking using multiple cameras. The particle filter framework is known to be effective for tracking people, but most of existing methods adopt only simple perceptual cues such as color histogram or contour similarity for hypothesis evaluation. To improve the robustness and accuracy of tracking more sophisticated hypothesis evaluation is indispensable. We therefore present a novel technique for human head tracking using cascaded classifiers based on AdaBoost and Haar-like features for hypothesis evaluation. In addition, we use multiple classifiers, each of which is trained respectively to detect one direction of a human head. During real-time tracking the most suitable classifier is adaptively selected by considering each hypothesis and known camera position. Our experimental results demonstrate the effectiveness and robustness of our method.

3D Head Tracking using the Particle Filter with Cascaded Classifiers