A computerized method for tracking of a 3D structure in a 3D image including a plurality of sequential image frames, one of which is a current image frame, includes representing the 3D structure being tracked with a parametric model with parameters for local shape deformations. A predicted state vector is created for the parametric model using a kinematic model. The parametric model is deformed using the predicted state vector, and a plurality of actual points for the 3D structure is determined using a current frame of the 3D image, and displacement values and a measurement vectors are determined using differences between the plurality of actual points and the plurality of predicted points. The displacement values and the measurement vectors are filtered to generate an updated state vector and an updated covariance matrix, and an updated parametric model is generated for the current image frame using the updated state vector.