Abstract. We present a framework and algorithm for tracking articulated motion for humans. We use multiple calibrated cameras and an articulated human shape model. Tracking is performed using motion cues as well as image-based cues (such as silhouettes and "motion residues" hereafter referred to as spatial cues,) as opposed to constructing a 3D volume image or visual hulls. Our algorithm consists of a predictor and corrector: the predictor estimates the pose at the t + 1 using motion