1. A computer implemented method for tracking 3D positions of an object moving in a scene, comprising the steps of: acquiring, with each camera of a set of cameras, a temporal sequence of images of a scene such that at each time instant a set of images is acquired of the scene, in which each image includes pixels; aggregating each set of images for each time instant into a synthetic aperture image including the pixels; matching, the pixels, in each set of images corresponding to multiple locations and multiple depths of a target window, with an appearance model to determine scores for the multiple locations and multiple depths; and selecting a particular location and a particular depth having a maximal score as a 3D position of the moving object.