Abstract: A system that measures the motion of a camera traveling over a living subject by reference to images taken from the camera, while measuring the subject's shape, pose and motion. The system can segment each image into pixels containing the subject and pixels not containing the subject, and ascribe each pixel containing the subject to a precise location on the subject's body. In one embodiment, a computer connected to a camera and an Inertial Measurement Unit (IMU) provides estimates of the camera's location, attitude and velocity by integrating the motion of the camera with respect to features in the environment and on the surface of the subject, corrected for the motion of the subject. The system corrects accumulated errors in the integration of camera motion by recognizing the subject's body shape in the collected data.