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This work concerns the development of low-cost ambient systems for helping elderly to stay at home. Depth cameras allow a real-time analysis of the displacement of the person. We show that it is possible to recognize the activity of the person and to measure gait parameters from the analysis of simple features extracted from depth images. Activity recognition is based on Hidden Markov Models and performs fall detection. When a person is walking, the analysis of the trajectory of her centre ofdoi:10.3233/ais-170444 fatcat:6omijxkvofexhlh6hjue2m7uim