ng environmental circumstances that, for instance, make the skin color detection difficult or almost impossible. Fig. 3. Multiple-cue approach to user localization. For person localization and the subsequent tracking process, both camera systems (omnidirectional as well as frontally aligned stereo system) are utilized. Contour Modelling: The contour which we refer to is that of the upper part of the body ofa frontally aligned person. First, we generated a statistically determined average head-shoulder contour by collecting views of different people. Then, a model was learned based on this set of training images (see fig. 4). This simple contour shape prototype consists ofa course of orientations along the modelled contour and realizes a piecewise approximation of the upper shape ofa person
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