There is provided a method and system for tracking a plurality of objects in a sequence of images. The method comprises: receiving an image from a sequence of images; calculating, based on the received image, a detection probability map which, for each state of a predefined set of states of an object, specifies a probability that any of the plurality of objects is detected in that state in the received image; updating, based on the calculated detection probability map, an object identity map and an accumulated probability map recursively from a previous object identity map and a previous accumulated probability map corresponding to a previously received image of the sequence of images, and tracking each object in the received image based on the updated object identity map and the updated accumulated probability map.