An object tracking, in particular adapted for real-time augmented reality applications, involves determining a location of an object (20) in a current frame (10) of a video stream (15), at a point in time following output of a preceding frame (11) of the video stream (15) but preceding output of the current frame (10), by starting from a location of the object (20) determined by an object-detection server (5) for a previous frame (12) of the video stream (15) and recursively track the location of the object (20) in frames (11) of the video stream (15) following the previous frame (12) up to the current frame (10) and recursively update a model of the object (20). Accurate objection detection from an object-detection server (5) can thereby be used even if the object was detected in a past frame (12) of the video stream (15) that has already been visualized.