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For tracking, you can use VISP

http://www.irisa.fr/lagadic/visp/visp.html

However it is limited to rigid objects. For objects that can change shape, you can try the active contours functions in opencv :

snakeImage

Take a look at this thread

http://answers.opencv.org/question/1790/active-contours-in-opencv/

Hope this helps,

Guido