Multimodal detection and tracking of pedestrians in urban environments with explicit ground plane extraction.

Luciano Spinello Rudolph Triebel Roland Siegwart Multimodal detection and tracking of pedestrians in urban environments with explicit ground plane extraction. 1823-1829 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4651109 conf/iros/2008 db/conf/iros/iros2008.html#SpinelloTS08