Biometric recognition by gait: A survey of modalities and features.

•A comprehensive survey of biometric gait recognition based on vision, underfoot pressure, accelerometry, and audio sensory modalities.•A review of the factors that impact gait recognition performance (e.g., walking speed, clothing, footwear, etc.) and the influence of time lapse.•A discussion on the future of gait biometrics and the challenges and open problems that are yet to be addressed in the field.