1. A machine implemented method comprising: obtaining a reference image having an object to be tracked in a current image; detecting a plurality of edgels of the object; dividing the reference frame into a plurality of bins; determining a plurality of valid bins, each of the plurality of valid bins containing a selected edgel that can be found within the current image; and selecting a subset of edgels of the object from each of the valid bins, each of the subset of edgels having a different angular orientation