1. A computer based method, for estimating a pose of a human actor, the method comprising: receiving a depth image of the human actor; detecting a head, neck, and trunk (H-N-T) template of the human actor in the depth image; detecting limbs of the human actor in the depth image based on the H-N-T template; detecting a plurality of features of the human actor in the depth image based on the detected H-N-T template and limbs; augmenting missing features based on previously generated corresponding predicted features; and estimating a pose of the human actor in a human model based on the augmented features and kinematic constraints of the human model.