This paper presents a method for markerless human motion capture using a single camera. It uses tree-based filtering to efficiently propagate a probability distribution over poses of a 3D body model. The pose vectors and associated shapes are arranged in a tree, which is constructed by hierarchical pairwise clustering, in order to efficiently evaluate the likelihood in each frame. A new likelihood function is proposed that improves the pose estimation of thinner body parts, i.e. the limbs. The dynamic model takes self-occlusion into account by increasing the variance of occluded body-parts, thus allowing for recovery when the body part reappears. An online motion capture system was implemented on two platforms: a standard PC and a system using Cell Broadband EngineTM [8]. As an application we present a computer game in which an avatar is controlled by the player’s body motion.