1. A method of tracking an object that appears in a plurality of image frames, comprising: (a) dividing an identified object of one of the plurality of image frames into a plurality of object segments; (b) tracking a location of each of the plurality of object segments in the image frame; (c) estimating at least one of scale and orientation of the object using the location of each of the plurality of object segments; and (d) obtaining position of the object using the estimated scale and orientation.