Toward real-time human detection and tracking in diverse environments

Human-robot interaction (HRI) encompasses numerous disciplines from psychology to mechanical engineering. Each field contributes to a robot´s ability to better understand and respond to humans actions, and behaviors. A common thread is the need to detect a person and their location within an environment. In this paper we tackle the issue of identifying which objects in a scene are people. We also discuss current work on human detection, and strategies for improved performance.