A passenger conveyance system includes a depth-sensing sensor (72) within a passenger conveyance enclosure (22) for capturing depth map data of objects within a field of view that includes a passenger conveyance door (24). A processing module (76) is in communication with the depth-sensing sensor (72) to receive the depth map data, the processing module (76) using the depth map data to track an object and calculate passenger data associated with the tracked object. A passenger conveyance controller (32) receives the passenger data from the processing module (76) to control operation of a passenger conveyance door (24) in response to the passenger data.