Abstract: In this paper, we introduce a fast and robust algorithm for tracking 3D multi-fingertips using Kinect.Our method firstly uses Kinect to get a rough hand region, then applies the fingertip detection method based on pixel classification to get the 2D fingertips.Finally, we sample on the depth map around the detected fingertip to get the Z-value of the fingertips and then combine the Kalman filter and the continuity between frames to track the 3D position of fingertips.The fingertip detection method based on the specialty of the data of Kinect and the Kalman filter applied with continuity between frames are the key of our algorithm.The experimental results show that our algorithm can robustly track 3D multi-fingertips in real time.