1. A system for tracking the location and orientation of a user's feet, comprising: a depth sensor for generating a depth map of a scene within the field of view of the depth sensor, the field of view containing at least a portion of the user; and a processor, configured to: identify a portion of the depth map as a candidate object for foot tracking; determine a central skeleton representation of the identified portion; determine a location of a toe of the user's foot and a location of an ankle of the user's foot, based on the central skeleton representation; and calculate an orientation of the user's foot based on the determine locations of the toe and the ankle.