1. A method for recognizing and tracking human motion comprising steps of: receiving a representation of human motion having at least one motion from a motion class, the at least one motion comprising a sequence of pose states represented in a high dimensional space; receiving a discriminative model adapted to project the sequences of pose states from the high dimensional space to a low dimensional space, the discriminative model enforcing discriminance between motions from different motion classes in the low dimensional space; and tracking the at least one motion based, at least in part, on the discriminative model.