This paper presents methods that utilize the advantages of modern graphics card hardware for real-time full body tracking with a 3D body model. By means of the presented methods the tracking of full body can be performed at frame-rates of 5 frames per second using a single low-cost moderately-priced graphics card and images from single camera. For a model with 26 DOF we achieved 15 times speed-up. The pose configuration is given by the position and orientation of the pelvis as well as relative joint angles between the connected limbs. The tracking is done through searching for a model configuration that best corresponds to the observed human silhouette in the input image. The searching is done via particle swarm optimization, where each particle corresponds to some hypothesized set of model parameters.
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