To realize a human tracking task in a cluttered environment, a method of multifeature based human tracking under the CTF(coarsetofine) locating strategy was proposed. The proposed method located the target from a RFID system coarsely. Then, the silhouette of the headshoulder, the cloth color and motion feature were extracted to locate the target accurately by using the processing techniques including adaptive template matching algorithm, improved Camshift and Extended Kalman Filter. At last, an intelligent gear shift controller based on fuzzy rules considering the motion state of the target and the robot was utilized to drive the robot. The experimental results show that the presented method can keep the robot in a suitable distance from the target and handle the problem of occlusion, a sudden turn, and complicated background.

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