1. A computer implemented method comprising: determining an effective center of a tracked region of interest for a current frame of a plurality of video frames based on a selected subset of feature points corresponding to the tracked region of interest, wherein the plurality of video frames comprise color video having depth data; accepting or rejecting the effective center of the tracked region of interest for the current frame based on a comparison of a first depth value corresponding to the effective center of the tracked region of interest for the current frame to a second depth value corresponding to a second effective center of the tracked region of interest for a previous frame, wherein the first and second depth values comprise at least one of disparity values or depth distance values; and, when the effective center of the tracked region of interest for the current frame is rejected: generating a second tracked region of interest for the previous frame based on the second effective center of the tracked region of interest for the previous frame; determining second feature points corresponding to the second region of interest for the previous frame; and performing motion tracking of the second feature points to provide third feature points corresponding to the second tracked region of interest for the current frame.