An implementation provides a method for estimating a location for an
object in a particular image of a sequence of images. The location is
estimated using a particle-based framework, such as a particle filter. It
is determined that the estimated location for the object in the
particular image is occluded. A trajectory is estimated for the object
based on one or more previous locations of the object in one or more
previous images in the sequence of images. The estimated location of the
object is changed based on the estimated trajectory.