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This is a classical detection problem. OpenCV has many different detector that you could use, see for example the Haar cascade classifier, latent SVM, Histogram of Oriented Gradients, or Bag of Words approaches.
All these solutions imply to train your own model, with a number of positive and negative samples. As your detections are independent, you could train your system independently. You could find many tutorials/research papers/samples on Google, and you probably need some (basic) knowledge on object detection/recognition.
