To capture the
floor, we try to obtain the generated plane model which has the
maximum inliers (number of 3D points) which are closest with
distance to the plane model. After the estimated plane model is
obtained and subtracted, the left 3D data point set is extracted
and considered as foreground. Note that we assume the floor is
flat and clear, and thus floor capturing is proposed only when the system initializes. Finally, the foreground 3D data are considered in association with the users lower limbs