Finally, real--time experiments in outdoor scenes have been conducted. 9 shows images from one example sequence. (This sequence is also available as MPEG video.) During this experiment the gradient has been taken as judgement function. Based on the contour position the camera has been moved to keep the pedestrian in the center of the image.
Figure 9: Tracking a pedestrian in an outdoor scene
(images 1, 21, 41, 71, 101 of a sequence taken during
a real--time experiment). The sampling step size 
is
.