I found a paper relates to this subject:
K Nummiaro, E Koller-Meier, L Van Gool, An adaptive color-based particle filter, Image and Vision Computing, 2003 - Elsevier
I found a paper relates to this subject:
K Nummiaro, E Koller-Meier, L Van Gool, An adaptive color-based particle filter, Image and Vision Computing, 2003 - Elsevier