Method for estimating one or more poses of a person equipped with a camera and one or more sensors, comprising the steps: - receiving camera data from the camera attached to a body part of the person, wherein the body part is a head of the person; - creating a depth map based on the received camera data to generate three-dimensional camera data; - receiving one or more signals from the one or more sensors attached to a body of the person; - creating skeletal data based on the one or more received signals; - determining the orientation of the camera attached to the body part of the person using the created skeletal data; - aligning a camera coordinate frame of the three-dimensional camera data and a skeletal coordinate frame of the skeletal data based on the determined orientation of the camera and a position of the camera using the position of the camera as fixing point, wherein the position of the camera defines a zero point (1100a, 2100aa) of the camera coordinate frame and the skeletal coordinate frame; - integrating the camera coordinate frame and the skeletal coordinate frame into a global coordinate frame; - estimating a pose of the person based on the aligned camera coordinate frame and the skeletal coordinate frame integrated into the global coordinate frame, characterised in that if a body part of the person is tracked by the three-dimensional camera data, a position of the body part is determined in the camera coordinate frame and the skeletal coordinate frame, and the positions of the tracked body part determined in the two coordinate frames (1200, 2200) are compared in the global coordinate frame, if a difference between the body part positions (1100b, 2100ab) determined in the camera coordinate frame and the skeleton coordinate frame is smaller than a predetermined threshold, the determined orientation of the camera is maintained, and if a difference between the body part positions (1100b, 2100ab) determined in the camera coordinate frame and the skeleton coordinate frame is larger than the first predetermined threshold, the determined orientation of the camera is updated. - receiving camera data from the camera attached to a body part of the person, wherein the body part is a head of the person; - creating a depth map based on the received camera data to generate three-dimensional camera data; - receiving one or more signals from the one or more sensors attached to a body of the person; - creating skeletal data based on the one or more received signals; - determining the orientation of the camera attached to the body part of the person using the created skeletal data; - aligning a camera coordinate frame of the three-dimensional camera data and a skeletal coordinate frame of the skeletal data based on the determined orientation of the camera and a position of the camera using the position of the camera as fixing point, wherein the position of the camera defines a zero point (1100a, 2100aa) of the camera coordinate frame and the skeletal coordinate frame; - integrating the camera coordinate frame and the skeletal coordinate frame into a global coordinate frame; - estimating a pose of the person based on the aligned camera coordinate frame and the skeletal coordinate frame integrated into the global coordinate frame, if a body part of the person is tracked by the three-dimensional camera data, a position of the body part is determined in the camera coordinate frame and the skeletal coordinate frame, and the positions of the tracked body part determined in the two coordinate frames (1200, 2200) are compared in the global coordinate frame, if a difference between the body part positions (1100b, 2100ab) determined in the camera coordinate frame and the skeleton coordinate frame is smaller than a predetermined threshold, the determined orientation of the camera is maintained, and if a difference between the body part positions (1100b, 2100ab) determined in the camera coordinate frame and the skeleton coordinate frame is larger than the first predetermined threshold, the determined orientation of the camera is updated.