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This paper presents a novel solution to track a visual object under changes in illumination, viewpoint, pose, scale, and occlusion. Under the framework of sequential Bayesian learning, we first develop a discriminative model-based tracker with a fast relevance vector machine algorithm, and then, a generative model-based tracker with a novel sequential Gaussian mixture model algorithm. Finally, we present a three-level hierarchy to investigate different schemes to combine the discriminative and generative models for tracking. The presented hierarchical model combination contains the learner combination (at level one), classifier combination (at level two), and decision combination (at level three). The experimental results with quantitative comparisons performed on many realistic video sequences show that the proposed adaptive combination of discriminative and generative models achieves the best overall performance. Qualitative comparison with some state-of-the-art methods demonstrates the effectiveness and efficiency of our method in handling various challenges during tracking.