Fig 1. Frames from color video and depth data collected using a depth-sensing camera during structured mobility testing in the community setting.

Times (t) are computed based on frame number and indicate the time elapsed since Frame A, the right leg toe-off. In the depth frames, colors code for distance of the object in that pixel from the camera. The green stick figure superimposed on the depth data represents the skeleton of the body pose estimated using motion capture software. The red-highlighted segments in Frame E represent the pelvis, thigh, and shank segments, from which we extracted hip and knee angles. The individual in this figure gave written informed consent (as outlined in the PLOS consent form) to publish this series of video frames.