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We seek to extract the three-dimensional motion of articulated objects by passive sensing. We first develop a multi-view system that segments objects from the background before their subsequent analysis by a motion model. To reduce the effects of noise, we also perform 3D reconstruction prior to motion analysis to improve the extraction of the (static) background. The 3D extraction and motion analysis are both performed by evidence gathering, thus accruing optimality of performance. These new analyses are supported by a new representation which describes 3D data with optimal fidelity.