In this article we propose a new recursive video denoising method with high performance. The method is recursive and uses only the current frame and the previous denoised one. It considers the video as a set of overlapping temporal patch trajectories. Following a Bayesian approach each trajectory is modeled as linear dynamic Gaussian model and denoised by a Kalman filter. To estimate its parameters, similar patches are grouped and their trajectories are considered as sharing the same model parameters. The filtering is mainly temporal; non-local spatial similarity is only used to estimate the parameters. This temporally causal method obtains results comparable (in terms of PSNR and SSIM) to state-of-the-art methods using several frames per frame denoised, but with a higher temporal consistency.