In the context of elderly people health-care in a domestic environment, being able for a robot to understand the pose of a person in a scene is essential. Having the position and orientation of every member of a human being can lead to extract higher level information such as the type of action being performed or the identification of unsafe positions. The proposed algorithm is based on a widely used method called Iterative Closest Point and uses three-dimensional data. The algorithm developed in the project, called Constrained Articulated-ICP, is a variant of this method. It is adapted to...