Gait velocity has been shown to quantitatively estimate risk of future hospitalization, has been shown to be a predictor of disability, and has been shown to slow prior to cognitive decline. In this paper, we describe a system for continuous and unobtrusive in-home assessment of gait velocity, a critical metric of function. This system is based on estimating walking speed from noisy time and location data collected by a "sensor line" of restricted view passive infrared (PIR) motion detectors. We demonstrate the validity of our system by comparing with measurements from the commercially available GAITRite® Walkway System gait mat. We present the data from 882 walks from 27 subjects walking at three different subject-paced speeds (encouraged to walk slowly, normal speed, or fast) in two directions through a sensor line. The experimental results show that the uncalibrated system accuracy (average error) of estimated velocity was 7.1cm/s (SD = 11.3cm/s), which improved to 1.1cm/s (SD = 9.1cm/s) after a simple calibration procedure. Based on the average measured walking speed of 102 cm/s our system had an average error of less than 7% without calibration and 1.1% with calibration.