A computer-implemented method for tracking a mobile device based on a series of motion measurements of said device comprises retrieving a topological map providing a graph of topological paths, wherein each topological path is associated with a corresponding path direction; statistically generating, on a virtual map, a plurality of particles around an estimated initial position of the mobile device, representing an initial uncertainty of said estimated initial position of the mobile device; determining, from said series of motion measurements, a measured displacement vector of the mobile device representing an estimated displacement direction and an estimated displacement distance of the mobile device; displacing each of said particles on the virtual map according to a randomized particle displacement vector which is derived from said measured displacement vector based on an uncertainty of the measured displacement vector and recording said particle displacement vector for each displaced particle; determining a weight of each particle based on a comparison of the respective particle displacement vector with the path direction of an adjacent topological path and/or based on a distance of the particle to the adjacent topological path; selecting a subset of said displaced particles for resampling based on a particle-weight dependent selection criterion; and regenerating said selected subset of displaced particles within a particle regeneration area around a current mean location of the plurality of particles according to a probability distribution.