1. A method for estimating a pose of a subject in an image, comprising: receiving the image including depth information associated with the subject; identifying critical points from local minimums and local maximums of the subject, the local minimums and maximums relative to horizontal and vertical edges of the subject as determined from the depth information; generating a skeletal structure for the subject from joint positions, the joint positions formed by connecting critical points within an area of the subject; and determining a pose of the subject based on the skeletal structure.