Do a Youtube search on Blender Kinect Motion Capture. Most of the results look a bit shaky, but there may be a way to smooth that out.
ETA: Here’s a pretty impressive video. There’s some problems with occlusion near the end because he apparently only had one sensor, but if you had two or three Kinects that would help reduce the problem.
I think converting that motion capture data to a armature is going to be a problem. However, bones can be constrained to follow the empties (out of motion tracking) and the resulting data can be animated i guess.