A method of tracking position and velocity of objects' borders in two or three dimensional digital images, particularly in echographic images. A sequence is acquired of at least two consecutive ultrasound image frames of a moving tissue or a moving object. The frames are separated by a certain time interval. Reference points define a border of the moving tissue or object and the border is automatically tracked by estimating the position of the reference points in following image frames on the basis of the ultrasound image data of the acquired sequence of image frames.