diff --git a/main_demo.cpp b/main_demo.cpp
index eb3434a..7171969 100644
--- a/main_demo.cpp
+++ b/main_demo.cpp
@@ -13,7 +13,9 @@ cv::Point g_botRight(0,0);
 cv::Point g_botRight_tmp(0,0);
 bool plot = false;
 bool g_trackerInitialized = false;
-ColorTracker * g_tracker = NULL;
+ColorTracker *g_tracker = NULL;
+
+
 
 static void onMouse( int event, int x, int y, int, void* param)
 {
@@ -29,7 +31,7 @@ static void onMouse( int event, int x, int y, int, void* param)
         if (g_tracker != NULL)
             delete g_tracker;
         g_tracker = new ColorTracker();
-        g_tracker->init(*(cv::Mat *)param, g_topLeft.x, g_topLeft.y, g_botRight.x, g_botRight.y);
+        g_tracker->init(*(cv::Mat *)param, Rect2d(g_topLeft.x, g_topLeft.y, g_botRight.x - g_topLeft.x, g_botRight.y - g_topLeft.y));
         g_trackerInitialized = true;
     }else if (event == cv::EVENT_MOUSEMOVE && !g_trackerInitialized){
         //plot bbox
@@ -83,7 +85,10 @@ int main(int argc, char **argv)
         }
 
         if (g_trackerInitialized && g_tracker != NULL){
-            bb = g_tracker->track(img);
+            if (bb == NULL) {
+              bb = new Rect2d();
+            }
+            g_tracker->update(img, *bb);
         }
 
         if (!g_trackerInitialized && plot && g_botRight_tmp.x > 0){
diff --git a/main_vot.cpp b/main_vot.cpp
index 8ce12cb..51bc11e 100644
--- a/main_vot.cpp
+++ b/main_vot.cpp
@@ -23,21 +23,23 @@ int main(int, char **)
     vot_io.getNextImage(image);
 
     //tracker initialization
-    tracker.init(image, init_rect.x, init_rect.y, init_rect.x + init_rect.width, init_rect.y + init_rect.height);
+    tracker.init(image, init_rect);
 
     //track   
     double average_speed_ms = 0.0;
     double num_frames = 0.0;
     while (vot_io.getNextImage(image) == 1){
+        Rect2d bb;
         double time_profile_counter = cv::getCPUTickCount();
-        BBox * bb = tracker.track(image);
+
+        bool success = tracker.update(image, bb);
+
         time_profile_counter = cv::getCPUTickCount() - time_profile_counter;
         average_speed_ms += time_profile_counter/((double)cvGetTickFrequency()*1000);
         num_frames += 1.0;
 
-        if (bb != NULL){
-            vot_io.outputBoundingBox(cv::Rect(bb->x, bb->y, bb->width, bb->height));
-            delete bb;
+        if (success){
+            vot_io.outputBoundingBox(cv::Rect(bb.x, bb.y, bb.width, bb.height));
         } else {
             vot_io.outputBoundingBox(cv::Rect(std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN()));
         }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index cc60cb9..428465b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -4,4 +4,4 @@ set(COLOR_LIB_SRC colotracker.cpp histogram.cpp region.cpp)
 
 add_library(color STATIC ${COLOR_LIB_SRC})
 target_link_libraries(color ${OpenCV_LIBS})
-set_target_properties(color PROPERTIES VERSION 1.0.0 SOVERSION 1)
\ No newline at end of file
+set_target_properties(color PROPERTIES VERSION 1.0.0 SOVERSION 1)
diff --git a/src/colotracker.cpp b/src/colotracker.cpp
index 1b58d33..95e0277 100644
--- a/src/colotracker.cpp
+++ b/src/colotracker.cpp
@@ -2,17 +2,17 @@
 #include <iostream>
 #include <fstream>
 
-void ColorTracker::init(cv::Mat & img, int x1, int y1, int x2, int y2)
+bool ColorTracker::initImpl(const cv::Mat & img, const cv::Rect2d & initial)
 {
     im1 = cv::Mat( img.rows, img.cols, CV_8UC1 );
     im2 = cv::Mat( img.rows, img.cols, CV_8UC1 );
     im3 = cv::Mat( img.rows, img.cols, CV_8UC1 );
 
     //boundary checks
-    y1 = std::max(0, y1);
-    y2 = std::min(img.rows-1, y2);
-    x1 = std::max(0, x1);
-    x2 = std::min(img.cols-1, x2);
+    const double y1 = std::max(0.0, initial.y);
+    const double y2 = std::min(img.rows-1.0, initial.y + initial.height);
+    const double x1 = std::max(0.0, initial.x);
+    const double x2 = std::min(img.cols-1.0, initial.x + initial.width);
 
     preprocessImage(img);
 
@@ -65,6 +65,9 @@ void ColorTracker::init(cv::Mat & img, int x1, int y1, int x2, int y2)
     bound1 = 0.05;
     bound2 = 0.1;
 
+    model = cv::Ptr<cv::TrackerModel>(new ColorTrackerModel());
+
+    return true;
 }
 
 cv::Point ColorTracker::histMeanShift(double x1, double y1, double x2, double y2)
@@ -379,10 +382,15 @@ cv::Point ColorTracker::histMeanShiftAnisotropicScale(double x1, double y1, doub
 
 
 
-BBox * ColorTracker::track(cv::Mat & img, double x1, double y1, double x2, double y2)
+bool ColorTracker::updateImpl(const cv::Mat & img, cv::Rect2d & boundingBox)
 {
-    double width = x2-x1;
-    double height = y2-y1;
+
+    double width = lastPosition.width;
+    double height = lastPosition.height;
+    double x1 = lastPosition.x;
+    double y1 = lastPosition.y;
+    double x2 = lastPosition.x + width;
+    double y2 = lastPosition.y + height;
 
     im1_old = im1.clone();
     im2_old = im2.clone();
@@ -424,15 +432,24 @@ BBox * ColorTracker::track(cv::Mat & img, double x1, double y1, double x2, doubl
         }
     }
 
-    BBox * retBB = new BBox();
-    retBB->setBBox(modeCenter.x - width/2, modeCenter.y - height/2, width, height, 1, 1);
-    lastPosition.setBBox(modeCenter.x - width/2, modeCenter.y - height/2, width, height, 1, 1);
+    boundingBox.x = modeCenter.x - width/2;
+    boundingBox.y = modeCenter.y - height/2;
+    boundingBox.width = width;
+    boundingBox.height = height;
+
+    lastPosition.x = modeCenter.x - width/2;
+    lastPosition.y = modeCenter.y - height/2;
+    lastPosition.width = width;
+    lastPosition.height = height;
+    lastPosition.accuracy = 1;
+    lastPosition.normCross = 1;
+
     frame++;
 
-    return retBB;
+    return true;
 }
 
-void ColorTracker::preprocessImage(cv::Mat &img)
+void ColorTracker::preprocessImage(const cv::Mat &img)
 {
     cv::Mat ra[3] = {im1, im2, im3};
     cv::split(img, ra);
@@ -520,4 +537,4 @@ void ColorTracker::extractForegroundHistogram(int x1, int y1, int x2, int y2, Hi
 
     hist.clear();
     hist.insertValues(data1, data2, data3, weights);
-}
\ No newline at end of file
+}
diff --git a/src/colotracker.h b/src/colotracker.h
index 91a71ee..a4c14a6 100644
--- a/src/colotracker.h
+++ b/src/colotracker.h
@@ -2,6 +2,8 @@
 #define COLOTRACKER_H
 
 #include "cv.h"
+#include "opencv2/core/persistence.hpp"
+#include "opencv2/tracking/tracker.hpp"
 #include "highgui.h"
 #include "region.h"
 #include "histogram.h"
@@ -14,7 +16,14 @@
 #define BIN_2 16
 #define BIN_3 16
 
-class ColorTracker
+class ColorTrackerModel: public cv::TrackerModel {
+  void modelEstimationImpl(const std::vector<cv::Mat>&) { }
+  void modelUpdateImpl() { }
+};
+
+
+
+class ColorTracker : public cv::Tracker
 {
 private:
     BBox lastPosition;
@@ -41,7 +50,7 @@ class ColorTracker
     cv::Point histMeanShiftIsotropicScale(double x1, double y1, double x2, double y2, double * scale, int * msIter = NULL);
     cv::Point histMeanShiftAnisotropicScale(double x1, double y1, double x2, double y2, double * width, double * height);
 
-    void preprocessImage(cv::Mat & img);
+    void preprocessImage(const cv::Mat & img);
     void extractBackgroundHistogram(int x1, int y1, int x2, int y2, Histogram &hist);
     void extractForegroundHistogram(int x1, int y1, int x2, int y2, Histogram &hist);
 
@@ -55,8 +64,13 @@ class ColorTracker
     int frame;
     int sumIter;
 
+  // Abstract methods for param IO in cv::Tracker
+    void read(const cv::FileNode&) {}
+    void write(cv::FileStorage&) const {}
+
+
 	// Init methods
-    void init(cv::Mat & img, int x1, int y1, int x2, int y2);
+    bool initImpl(const cv::Mat & img, const cv::Rect2d & output);
 
     // Set last object position - starting position for next tracking step
     inline void setLastBBox(int x1, int y1, int x2, int y2)
@@ -72,11 +86,7 @@ class ColorTracker
     }
 
 	// frame-to-frame object tracking
-    BBox * track(cv::Mat & img, double x1, double y1, double x2, double y2);
-    inline BBox * track(cv::Mat & img)
-    {
-        return track(img, lastPosition.x, lastPosition.y, lastPosition.x + lastPosition.width, lastPosition.y + lastPosition.height);
-    }
+    bool updateImpl(const cv::Mat & img, cv::Rect2d & output);
 };
 
 #endif // COLOTRACKER_H
diff --git a/src/region.h b/src/region.h
index a007bf9..e5083a2 100644
--- a/src/region.h
+++ b/src/region.h
@@ -9,9 +9,9 @@
 #define BBOX_C3F6FA38_1DD3_4796_8FB6_62A80862095F__INCLUDED_
 
 #include <vector>
+#include "cv.h"
 
-
-class BBox
+class BBox : public cv::Rect2d
 {
 
 public:
@@ -24,10 +24,6 @@ class BBox
 
     double accuracy;
     double normCross;
-    double height;
-    double width;
-    double x;
-    double y;
 
     double * getTopLeftWidthHeight();
     void setBBox(double _x, double _y, double _width, double _height, double _accuracy, double _normCross = 0);
@@ -37,8 +33,8 @@ class BBox
     static std::vector<BBox *> clusterBBoxes(std::vector<BBox *> & BB);
     static std::vector<BBox *> findDiff(std::vector<BBox *> & A, std::vector<BBox *> & B);
 
-
-    bool operator==(const BBox & right) const
+    template <class Other>
+    bool operator==(const Other & right) const
     {
         if ( (this->x - right.x) != 0  ||
              (this->y - right.y) != 1  ||
@@ -48,7 +44,8 @@ class BBox
         return true;
     }
 
-    bool operator!=(const BBox & right) const
+    template <class Other>
+    bool operator!=(const Other & right) const
     {
         return !(*this == right);
     }