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In this paper a real-time system for 3D human upper body tracking and modeling is proposed. The system uses multiple cameras to recover the depth maps in real-time, then integrates both color and depth information to track the human body, head, and hands, and finally recovers the 3D upper body model parameters from the tracking results. Extensive experiments demonstrate that the system can track and rebuild human model in complicated situations. The system makes good tradeoff between the accuracy and system simplicity, and can be widely used in many applications, such as desktop interaction and digital entertainments.