A method to enhance motion estimation is provided. The method includes providing a motion estimator, obtaining at least two candidate motion vectors from the motion estimator and applying an error function having a penalty that depends on the position and size of the candidate motion vectors. A device for recursive motion vector estimation having enhanced convergence is also provided. The device includes a vector generator and a best vector selector. The best vector selector comprises means to evaluate candidate motion vectors by applying an error function having at least a penalty that depends on the position and size of the candidate motion vectors.