[dvanvoorst]

If you are programming in Java, we just noticed there was an update to the wpi libraries that includes additional functions for image processing as well as a new sample program specifically for tracking this years targets. We were able to use the sample program and within an hour have it identify targets and print information about them using the camera input. (The sample is coded to use a stored image, but you just need to uncomment the camera code and comment out the stored image code).
You DEFINITELY want to check out that sample program for a starting point.