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Just looking at your code i notice you're trying an approach based on contour segmentation. However, if you actually know the object you are looking for, I would suggest using feature matching approaches like SURF, SIFT or ORB.

Information can be found here on these links:

• http://docs.opencv.org/modules/features2d/doc/features2d.html
• http://docs.opencv.org/doc/tutorials/features2d/table_of_content_features2d/table_of_content_features2d.html#table-of-content-feature2d

Those can actually detect feature points in new frames that are common to the feature points in the object. You will get way better detection results.