1. A method for guidance and navigation of an autonomous vehicle, the autonomous vehicle comprising at least one camera, the method comprising: processing a plurality of images of an environment of the autonomous vehicle captured using the at least one camera of the autonomous vehicle over a period of time to track one or more objects within the environment, wherein processing the plurality of images to track the one or more objects in the environment comprises processing at least two images of the plurality of images to estimate a pose of a first object in the environment, wherein processing the at least two images to estimate the pose of the first object comprises: generating hypotheses for a pose component of pose of the first object; identifying a mode of a probability mass function associated with the hypotheses; extracting low-noise hypotheses; and averaging the low-noise hypotheses to obtain an estimate for the pose component for the pose of the first object.