1. A method for tracking objects based on sensory data ( 3 ) supplied from streaming sensors such as e.g. video camera(s) ( 30 , 31 ), the method comprising the following steps: processing the sensory input data ( 3 ) using one or more tracker models ( 9 ), each tracker model comprising a tracker prediction and a measurement process, deciding ( 16 ) whether the sensory data ( 3 ) contain interesting parts not yet covered by a tracker model ( 9 ), and in the positive case, initializing new tracker objects, releasing ( 29 ) a tracked object if the tracker prediction and measurement processes do not get sufficient sensory support for some time, and adjusting the abstraction level of the tracking models used by testing more complex and simpler tracking models during run-time.