The process of object tracking, or part of that object is done with interaction of the camera with markers. Tracking of markers is a coordinate transformation of a 3D world coordinate system into the 2D image coordinate system where the marker is being detected. Full transformation of coordinates is done with intrinsic parameters of the camera which are determined with the camera calibration process. Camera calibration is done with Zhang's method using a calibration board. After internal parameters of the camera are determined, the next part is the detection and pose estimation of ArUco markers which are used in this work. Translation and rotation vectors represent extrinsic parameters that describe the relationship between the coordinate system of the camera and the coordinate system of markers observed in the scene. Tracking process in this thesis is done in a way that the camera is held stationary while the object with markers is being moved around the contours of fixed geometry. In the chapter that shows the results of this work, potential applications of tracking with this method are presented with an analysis of obtained results. All algorithms and mathematical models used in this work are described and then implemented in the OpenCV library used in computer vision and image processing applications.