diff --git a/docs/source/components/messages/tracklets.rst b/docs/source/components/messages/tracklets.rst
new file mode 100644
index 000000000..817eae51b
--- /dev/null
+++ b/docs/source/components/messages/tracklets.rst
@@ -0,0 +1,33 @@
+Tracklets
+=========
+
+Tracklets are produced by the :ref:`ObjectTracker` node. They provide tracking information of the tracked objects.
+
+Examples of functionality
+#########################
+
+- :ref:`29.1 - Object tracker on RGB camera`
+- :ref:`29.2 - Spatial object tracker on RGB camera`
+- :ref:`29.3 - Object tracker on video`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.Tracklets
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::Tracklets
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst
diff --git a/docs/source/components/nodes/color_camera.rst b/docs/source/components/nodes/color_camera.rst
index 6fb70e384..c995f0bc8 100644
--- a/docs/source/components/nodes/color_camera.rst
+++ b/docs/source/components/nodes/color_camera.rst
@@ -64,7 +64,7 @@ Usage
   .. code-tab:: c++
 
       dai::Pipeline pipeline;
-      auto cam = pipeline.create<dai::node::createColorCamera>();
+      auto cam = pipeline.create<dai::node::ColorCamera>();
       cam->setPreviewSize(300, 300);
       cam->setBoardSocket(dai::CameraBoardSocket::RGB);
       cam->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
diff --git a/docs/source/components/nodes/object_tracker.rst b/docs/source/components/nodes/object_tracker.rst
new file mode 100644
index 000000000..f06e2e30e
--- /dev/null
+++ b/docs/source/components/nodes/object_tracker.rst
@@ -0,0 +1,108 @@
+ObjectTracker
+=============
+
+Object tracker tracks detected objects from the :ref:`ImgDetections` using Kalman filter and hungarian algorithm.
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    objectTracker = pipeline.createObjectTracker()
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto objectTracker = pipeline.create<dai::node::ObjectTracker>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+                      ┌───────────────────┐
+  inputDetectionFrame │                   │passthroughDetectionFrame
+  ───────────────────►│-------------------├─────────────────────────►
+                      │                   │                      out
+                      │      Object       ├─────────────────────────►
+  inputTrackerFrame   │      Tracker      │  passthroughTrackerFrame
+  ───────────────────►│-------------------├─────────────────────────►
+  inputDetections     │                   │    passthroughDetections
+  ───────────────────►│-------------------├─────────────────────────►
+                      └───────────────────┘
+
+**Message types**
+
+- :code:`inputDetectionFrame` - :ref:`ImgFrame`
+- :code:`inputTrackerFrame` - :ref:`ImgFrame`
+- :code:`inputDetections` - :ref:`ImgDetections`
+- :code:`out` - :ref:`Tracklets`
+- :code:`passthroughDetectionFrame` - :ref:`ImgFrame`
+- :code:`passthroughTrackerFrame` - :ref:`ImgFrame`
+- :code:`passthroughDetections` - :ref:`ImgDetections`
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+      pipeline = dai.Pipeline()
+      objectTracker = pipeline.createObjectTracker()
+
+      objectTracker.setDetectionLabelsToTrack([15])  # Track only person
+      # Possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS
+      objectTracker.setTrackerType(dai.TrackerType.ZERO_TERM_COLOR_HISTOGRAM)
+      # Take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+      objectTracker.setTrackerIdAssigmentPolicy(dai.TrackerIdAssigmentPolicy.SMALLEST_ID)
+
+      # You have to use Object tracker in combination with detection network
+      # and an image frame source - mono/color camera or xlinkIn node
+
+  .. code-tab:: c++
+
+      dai::Pipeline pipeline;
+      auto objectTracker = pipeline.create<dai::node::ObjectTracker>();
+
+      objectTracker->setDetectionLabelsToTrack({15});  // Track only person
+      // Possible tracking types: ZERO_TERM_COLOR_HISTOGRAM, ZERO_TERM_IMAGELESS
+      objectTracker->setTrackerType(dai::TrackerType::ZERO_TERM_COLOR_HISTOGRAM);
+      // Take the smallest ID when new object is tracked, possible options: SMALLEST_ID, UNIQUE_ID
+      objectTracker->setTrackerIdAssigmentPolicy(dai::TrackerIdAssigmentPolicy::SMALLEST_ID);
+
+      // You have to use Object tracker in combination with detection network
+      // and an image frame source - mono/color camera or xlinkIn node
+
+Examples of functionality
+#########################
+
+- :ref:`29.1 - Object tracker on RGB camera`
+- :ref:`29.2 - Spatial object tracker on RGB camera`
+- :ref:`29.3 - Object tracker on video`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.ObjectTracker
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::ObjectTracker
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst