It's not documented at all, and it has evidence of numerous attempts to try different things that failed to work very well, but now it works pretty well. I finally ended up using a Haar classifier so that I could detect a person wearing a t-shirt with my company logo, and the robot follows it. The cascade detection is augmented with optical flow in case in a subsequent frame the logo gets missed by the detector.
Hopefully this will help other people out there trying to do similar things.