Although the date for the release of the Minimum Maximum Live Tour DVD still hasn’t been anounced yet, there are at least 3 streaming live videos available on astralwerks.com:
Numbers (Windows Media High Bandwith)
The Robots (Windows Media High Bandwith)
The Model (Windows Media High Bandwith)
For streams in low bandwith quality or in Real-format check Kraftwerk’s Astralwerks website.
You can find some nice pictures of Kraftwerk gigs taken from the audience here and there.
(edited with material from elektrogemeinschaft.com, and google picture search)