People tracking for people who don't look like people all the time, interesting!. In a crowded environment no less.
You might look into the
https://github.com/spencer-project (who had a robot driving around on Amsterdam Schiphol Airport:
http://www.spencer.eu/gallery.html)
Following people in a less crowded environment is a task in RoboCup@Home. At TechUnited, we use vision to detect a person and then a laser scanner at torso-height to track the operator.
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