It's not that I wanted to run the demo as it is, but try to understand how it works and see if we can replicate (and maybe further elaborate on) the functionality on that demo with our robot. That's why I was trying to find some literature about it, so I have a more elaborate base to start working than a piece of code. Right now I was reading a paper from Cogniron project that seems to use a system similar to yours to track people. (
http://members.tele2.nl/palindromoroz/Publications/zivkovickroseIROS2007.pdf)
Of course, being able to reuse some of your code would be nice if that's possible, but right now I've not reached that point yet. :)
Miguel.