Articulated human motion tracking from single-view camera is an important research in gait analysis. This thesis presented a markerless human pose tracking using Sampling Importance Resampling (SIR) particle filtering and hierarchical particle sarm optimisation (HPSO) algorithm. The performance of SIR particle filtering is experimentally compared with HPSO algorithm in terms of articulated human tracking accuracy amd processing time in handling abrupt motion, scale change, self-occlusion, pose variation and ambiguity.Nonetheless, HPSO posed a disadvantage as it has high pose tracking computational time. This research has demonstrated that there is a possibility of using HPSO tracking algorithm in the gait analysis system.