1. A method of object tracking comprising: computing a score for a camera captured current image comprising a target object, the score based, at least in part, on one or more metrics determined from a comparison of features in the current image and a prior image captured by the camera, and wherein the comparison is based on an estimated camera pose for the current image; and selecting one of a point based, an edge based, or a combined point and edge based feature correspondence method based, at least in part, on a comparison of the score with at least one point threshold and at least one line threshold, the at least one point threshold and the at least one line threshold obtained from a model of the target.