A new generation of RGB-D cameras have strongly influenced the research activities in the computer vision field. Due to their affordable price and their good performance in terms of frame rate and image resolution, cameras such as Microsoft’s Kinect or the Asus’s Xtion Pro have gained popularity and have been employed in many different applications. Originally proposed for controller-free game platforms, these devices have been applied for more complex human body motion analysis, as presented in the recent review [8]: in general, the depth data is used to identify and segment human users to track their body parts. RGB-D cameras have been also successfully applied for object segmentation purposes [36], in indoor video surveillance systems as recently proposed in [9], home care activity monitoring [30] or in robot-based application as presented by [12]. A detailed review of RGB-D cameras applications can be found in [16].