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Cascade training(Haar training) - I need help!

Hi i'm currently working on a AR Drone project running on ROS+Ubuntu. I'm using the cascade for the Drone camera to track a logo/image and follow it. However, it does not track the image well when i use haartraining,it will track other things easily instead of the logo. I'm not sure on what parameters i should use. I'm a beginner at this, i followed this guide .

This is what i typed to create the cascade, opencv_createsamples -img -bg bg.txt -vec out.vec -w 24 -h 24 opencv_traincascade -data out -vec out.vec -bg bg.txt -numPos 950 -numNeg 400 -numStages 15 -w 24 -h 24

Are my parameters correct? Should i add on more? My cascade does not track the logo/image well. I need it to track the logo well. I used on image of the logo to create the samples.

Can anyone help me? I would really appreciate the help, i've been trying this out for 1 week, trial and errors. But i still can't get the drone to track the image well!