Understanding the shape of a human foot is a challenge approached by a wide range of disciplines and industries. Traditional methods of obtaining foot measurements are being replaced with newer 3D scanning technologies, obtaining more accurate and repeatable results. However, there is still a lack of insight into the dynamic morphology of human foot during motion. Obtaining an insight into the shape of the foot during motion is possible, but not widely accessible, due to expensive and custom equipment used in existing 4D foot scanning prototypes. This work focuses on developing a 4D foot scanning prototype using commodity hardware, aiming to provide better insight into the dynamic foot morphology and make research in this field more accessible. The prototype is based on RGB-D cameras which offer an affordable access to 4D scanning, using active stereoscopic vision technology.