Important preconditions forwide acceptance of virtual reality systems include their comfort, ease and naturalness to use. Most existing trackers suffer from discomfort related issues. F or example, body-based trackers (such as hand controllers, joysticks or helmet attachments) restrict spontaneityand naturalness of motion, whereas ground- base ddevices (e.g., hand controllers) limit the workspace by literally binding an operator to the ground. Controls have similar problems. This paper describes using real-time video with registered depth information (from a commercially available camer a) for virtual reality navigation. A camera-based setup can replace cumbersome trackers. The method includes selectivedepth processing for increased speed,and a robust skin-color segmentation for handling illumination variations.