Abstract: A simulation system is disclosed in which images are captured of one or more subjects within a simulation volume, the images are analyzed to determine 2D keypoints for each of subject (where the 2D keypoints for a subject collectively represent the body position and/or posture of the respective subject), and corresponding 3D keypoints (and thus a complete 3D skeletal pose of each subject) of each subject are created from the 2D keypoints. This can be done for multiple frames, and tracking can be performed by matching 3D keypoints of a subject from a first frame with corresponding 3D keypoints from a successive frame.