A system and method are provided for object tracking in a scene over time. The method comprises obtaining tracking data from a tracking device, the tracking data comprising information associated with at least one point of interest being tracked; obtaining position data from a scene information provider, the scene being associated with a plurality of targets, the position data corresponding to targets in the scene; applying a probabilistic graphical model to the tracking data and the target data to predict a target of interest associated with an entity being tracked; and performing at least one of: using the target of interest to determine a refined point of interest; and outputting at least one of the refined point of interest and the target of interest.