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.