A computer-implemented method for tracking a location and orientation of a target in a digital image, the method comprising: receiving a digital image captured by a visual sensor ; receiving boundary information sufficient to form a bounding box around the target in the digital image , generating a first array comprising a plurality of binary values related to a pixel velocity of a first plurality of pixels in the digital image , wherein pixel velocity is a measure of how much an object represented by a pixel in an image is moving from frame to frame, wherein the generating comprises: identifying a plurality of sampling windows in the digital image located outside the bounding box; determining a pixel velocity value for a pixel located inside each of the plurality of sampling windows ; and determining the plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image based, at least in part, on the determined pixel velocities for the pixels located inside the plurality of sampling windows ; generating a second array comprising a plurality of values related to a temporal standard deviation of pixel intensity of the first plurality of pixels in the digital image computed over a defined number of frames; identifying a plurality of target pixels and a plurality of background pixels in the digital image, based on the first array and the second array ; and identifying at least one of a location and an orientation of the target in the digital image based on the identified plurality of target pixels and a plurality of background pixels. receiving a digital image captured by a visual sensor ; receiving boundary information sufficient to form a bounding box around the target in the digital image , generating a first array comprising a plurality of binary values related to a pixel velocity of a first plurality of pixels in the digital image , wherein pixel velocity is a measure of how much an object represented by a pixel in an image is moving from frame to frame, wherein the generating comprises: identifying a plurality of sampling windows in the digital image located outside the bounding box; determining a pixel velocity value for a pixel located inside each of the plurality of sampling windows ; and determining the plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image based, at least in part, on the determined pixel velocities for the pixels located inside the plurality of sampling windows ; identifying a plurality of sampling windows in the digital image located outside the bounding box; determining a pixel velocity value for a pixel located inside each of the plurality of sampling windows ; and determining the plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image based, at least in part, on the determined pixel velocities for the pixels located inside the plurality of sampling windows ; generating a second array comprising a plurality of values related to a temporal standard deviation of pixel intensity of the first plurality of pixels in the digital image computed over a defined number of frames; identifying a plurality of target pixels and a plurality of background pixels in the digital image, based on the first array and the second array ; and identifying at least one of a location and an orientation of the target in the digital image based on the identified plurality of target pixels and a plurality of background pixels. <EOS>