The method described below is a mixture of structural tracking and dynamic programming [Bonnefon, 1998].

From a starting point and an initial direction, a little search window is created for dynamic programming (F* algorithm) and the path between candidate points and starting point, with the lowest cost, is searched.

Figure 10: Tracking process.

The candidate point giving the best path becomes the new starting point and the new direction is defined with the old one and the new starting point. In this way, tracking can be performed.