For my final year project, I initially planned to use Kalman filtering for motion detection, but as I couldn’t make the Kalman Filtering work on time, I settled with a color based tracking system. Simply converting the whole camera image to HSV color-space and setting a rang for a particular color, I tracked the colored blobs. Next I will be using Kalman filtering.
The computer vision library used was OpenCV, running with Python bindings. The system is communicating with the computer via Bluetooth and there is a webcam fitted on the rotation mechanism that I built from old printer parts.
Here is a video of it in action,