Tracking Steps
prediction
- predict Kalman filter (X, Z)
- predict person disparity
segmentation
- select foreground layer around predicted disparity
localization
- correlate gray level template against left image, weighted by support template [coarse localization]
- correlate head/torso shape template against segmented foreground layer [re-centering step that addresses template drift]
update
- Kalman filter
- recursive update of intensity and support templates