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Detection and tracking of pedestrians is an essential task for autonomous outdoor robots. Modern 3D laser range finders provide a rich and detailed 360 degree picture of the environment. Unstructured environments pose a difficult scenario where a variety of objects with similar shape to a human like shrubs or small trees occur. Especially in combination with partial occlusions, sensor noise, and conclusions from traversing rough terrain.
Häselich et al. (Mon,) studied this question.