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You could create a HAAR or LPB cascade for blue shoes using the opencv_traincascade application. You will need to collect images of those shoes from a couple of different angles and place them in pictures of different environments. You also need a lot of pictures without the shoes in them as negatives. I would suggest trying LPB cascades first, as they use integers and training can be fully parallelized, making it a lot faster than training a HAAR cascade which uses floats and is largely single threaded. You can find a tutorial on the training process here: http://docs.opencv.org/master/dc/d88/tutorial_traincascade.html