The present disclosure describes a target tracker that evaluates frames of data of one or more targets, such as a body part, body, and/or object, acquired by a depth camera. Positions of the joints of the target(s) in the previous frame and the data from a current frame are used to determine the positions of the joints of the target(s) in the current frame. To perform this task, the tracker proposes several hypotheses and then evaluates the data to validate the respective hypotheses. The hypothesis that best fits the data generated by the depth camera is selected, and the joints of the target(s) are mapped accordingly.