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Foot interfacing has applications in games that require foot manipulation control using motion sensing devices. However, when part of a foot overlaps itself (selfocclusion), is out of the line of sight of the infrared sensor and it is then difficult to accurately capture foot pose. To overcome this problem, we propose a real-time motion sensing method based on 3-dimensional motion estimation. Our method employs pose parameters that are acquired using the ground plane and camera coordinates. This enables an assessment of the positions of the two joints that comprise a skeletal foot model. The proposed approach can capture a foot's 3-dimensional information that an infrared sensor may miss; therefore, motion sensing device's pose estimation results improve. According to the tracking and experimental results, the proposed method is applicable for use by motion sensing devices.