@ARTICLE{Bellotto2009,
  author = {N. Bellotto and H. Hu},
  title = {Multisensor-Based Human Detection and Tracking for Mobile Service
        Robots},
  journal = {IEEE Trans. on Systems, Man, and Cybernetics -- Part B},
  year = {2009},
  volume = {39},
  pages = {167-181},
  number = {1}
}