An implementation provides a method for estimating a location for an object in a particular image of a sequence of images. The location is estimated using a particle-based framework, such as a particle filter. It is determined that the estimated location for the object in the particular image is occluded. A trajectory is estimated for the object based on one or more previous locations of the object in one or more previous images in the sequence of images. The estimated location of the object is changed based on the estimated trajectory.