An efficient method for simultaneous human body part segmentation and pose estimation is introduced. A conditional random field with a fully-connected graphical model is used. Possible node (image pixel) labels comprise of the human body parts and the background. In the human body skeleton model, the spatial dependencies among body parts are encoded in the definition of pairwise energy functions according to the conditional random fields. Proper pairwise edge potentials between image pixels are defined according to the presence or absence of human body parts that are near to each other. Various Gaussian kernels in position, color, and histogram of oriented gradients spaces are used for defining the pairwise energy terms. Shifted Gaussian kernels are defined between each two body parts that are connected to each other according to the human body skeleton model. As shifted Gaussian kernels impose a high computational cost to the inference, an efficient inference process is proposed by a mean field approximation method that uses high dimensional shifted Gaussian filtering. The experimental results evaluated on the challenging KTH Football, Leeds Sports Pose, HumanEva, and Penn-Fudan datasets show that the proposed method increases the per-pixel accuracy measure for human body part segmentation and also improves the probability of correct parts metric of human body joint locations.