1. A method for tracking a target in a sequence of depth images, the method comprising: acquiring with a depth sensor the sequence of depth images; formulating multiple hypotheses for a target configuration in a selected depth image of the sequence of depth images, wherein each of the multiple hypotheses includes a set of corresponding points between a known target configuration in a previous depth image in the sequence of depth images and the target configuration in the selected depth image; using a target skeleton model, synthesizing a depth map of the target configuration in the selected depth image for each of the multiple hypotheses; testing each hypothesis by comparing the respective synthesized depth map to the selected depth image to identify a best hypothesis that most closely fits the target configuration in the selected depth image; identifying semantic points of the target in the selected depth image; computing a rigid transformation of the target from the previous depth image to the selected depth image using at least a subset of the semantic points; randomly jittering parameters of the computed rigid transformation to generate additional hypotheses for testing; testing each additional hypothesis to identify an improved best hypothesis that fits the target configuration in the selected depth image at least as well as the best hypothesis.