2-Dimensional image-related tasks, such as object detection and motion tracking, have become popular and have been researched extensively over the past few years, mainly used for applications like intelligent software, surveillance, medical diagnosis, etc. This project is an extension of that but in the 3-dimensional space. The research project is a continuation of, and a sub-aspect of, my ongoing research project - analysis of the physical reactions of subjects in contact with social robots. I am working on finding a way to see how humans react when a robot approaches them. It is also aimed at understanding some of the better methods for detecting objects in a 3D space from 2D images we generally use, targeted at one application of computer vision - motion tracking. A turtlebot is used, along with a laser distance sensor, to estimate how far and in what direction relative to the robot a moving object is detected.