1. A machine implemented method comprising: obtaining a reference image comprising an object to be tracked; detecting, in the reference image, a plurality of edgels of the object to be tracked; dividing the reference image into a plurality of bins; determining one or more valid bins from the plurality of bins in the reference image, wherein, each valid bin contains a corresponding at least one edgel of the object to be tracked that corresponds to an edgel of a tracked object in a current image captured subsequent to the reference image; and selecting, from each valid bin in the reference image, a corresponding subset of the plurality of edgels of the object to be tracked, wherein, in each subset with a plurality of edgels to be tracked, edgels of the object to be tracked with differing angular orientations are favored for selection in the subset.