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Although this is an old post maybe someone new comes looking for the same information. I have found references of doing this with the name of SLAM and DATMO. This means SLAM with detection and tracking of moving objects.

In this method the people are treated in no different way as any other moving object in the scene and probably this is a better approach as there are significant different objects in indoor and outdoor environments.

You can take a look at the following references:

• Section 8.4 of the book probabilitics robotics by Fox, Thrun and Burgard
• Markov localization in dynamic environments by Fox, Burgard and Thrun
• Literature review of SLAM and DATMO is a good starting point
• The work by Wang at the Robotics Institute CMU. His 2002, 2003 and thesis project are a valuable resource
• All other references in the work of Pancham specially Montesano, Ortega and Vu PhD thesis

Hope this help anyone who arrives here.