The developed system mainly consists of two functional parts, the CCD algorithm to fit the model curve in still images and the CCD tracker to track the model in the videos. We demonstrate algorithm’s working in various scenes using handheld camera and the cameras from the PR2 robot. Achieved results show that the CCD algorithm achieves robustness and sub-pixel accuracy even in the presence of clutter, partial occlusion, and changes of illumination as depicted in below imagery.