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As it is hard to fulfill the people detection tasks in complex environment using a common camera, this paper presents a Multi-Features human detection method based on color and depth image provided by Kinect. Firstly, we calculate the Histogram of Oriented Gradient (HOG) and Histogram of Oriented Depths (HOD) features of color and depth data. Then, the Support Vector Machine classifiers were trained based on the two features. Finally, Decision Template (DT) is calculated to match the decisiondoi:10.24507/icicelb.07.07.1567 fatcat:q4slzpi4h5ccvkwd7q2im5stcm