Abstract: One aspect of the invention provides a computer-implemented method for tracking a plurality of spermatozoa. The method includes: identifying a coordinate for each of the plurality of spermatozoa in a plurality of video frames; and applying a nearest-neighbor joint probabilistic data association filter (NN-JPDAF) algorithm to associate the coordinates with one or a plurality of sperm tracks. Another aspect of the invention provides a non-transitory computer-readable medium containing program instructions executable by a processor. The computer-readable medium can include program instructions for performing a method as described herein. Another aspect of the invention provides a system including: a processor and a computer-readable medium including program instructions for performing a method as described herein.