Driven by recent advances in information and communications technology, tele-rehabilitation services based on multimedia processing are emerging. Gait analysis is common for many rehabilitation programs, being, for example, periodically performed in the post-stroke recovery assessment. Since current optical diagnostic and patient assessment tools tend to be expensive and not portable, this paper proposes a novel marker-based tracking system using a single depth camera which provides a cost-effective solution that enables tele rehabilitation services from home and local clinics. The proposed system can simultaneously generate motion patterns even within a complex background using the proposed geometric model-based algorithm and autonomously provide gait analysis results using a customised user-friendly application that facilitates seamless navigation through the captured scene and multiview video data processing, designed using feedback from practitioners to maximise user experience. The locally processed rehabilitation data can be accessed by cross-platform mobile devices using cloud-based services enabling emerging tele-rehabilitation practices.