1. A human tracking method using a color histogram comprising:
creating color-space conversion data by performing color space conversion of input video data;
calculating a state equation for each of a plurality of particles based on the color-space conversion data, the state equation
including a state variable representing a human pose that comprises a position of a human and a rotation angle of the human;
calculating, for each particle, a human pose-adaptive observation likelihood by using target color histograms corresponding
to calculated pose information;
resampling the particles based on the observation likelihood, and estimating a state value of the human; and
updating the target color histograms.