63. The method of claim 59 , wherein refining the estimated motion parameters of the object comprises: selecting a plurality of candidate ROIs based on a local search centered around estimated position of the ROI; applying a similarity measure to the plurality of candidate ROIs of the object; and selecting at least one ROI based on the similarity measure.
63. The method of claim 59 , wherein refining the estimated motion parameters of the object comprises: selecting a plurality of candidate ROIs based on a local search centered around estimated position of the ROI; applying a similarity measure to the plurality of candidate ROIs of the object; and selecting at least one ROI based on the similarity measure. 65. The method of claim 63 , further comprising adding another video frame as a second reference frame containing an estimated ROI, wherein the estimated ROI has a similarity score exceeding a threshold value.