@CONFERENCE\{IMM2008-06170,
    author       = "D. W. Hansen and M. Hansen and M. Kirschmeyer and R. Larsen and D. Silvestre",
    title        = "Cluster tracking with Time-of-Flight cameras",
    year         = "2008",
    keywords     = "Authentication , Calibration , Clustering algorithms , Image sensors , Informatics , Layout , Pixel , Smart cameras , Solid modeling , Target tracking",
    booktitle    = "{IEEE} Computer Society Conference on Computer Vision and Pattern Recognition Workshops. {CVPRW} '08.",
    volume       = "",
    series       = "",
    editor       = "",
    publisher    = "",
    organization = "",
    address      = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/6170-full.html",
    abstract     = "We describe a method for tracking people using a time-of-flight camera and apply the method for persistent authentication in a smart-environment. A background model is built by fusing information from intensity and depth images. While a geometric constraint is employed to improve pixel cluster coherence and reducing the influence of noise, the {EM} algorithm (expectation maximization) is used for tracking moving clusters of pixels significantly different from the background model. Each cluster is defined through a statistical model of points on the ground plane. We show the benefits of the time-of-flight principles for people tracking but also their current limitations.",
    isbn_issn    = "{DOI} 10.1109/CVPRW.2008.4563156"
}