It is possible for you to program your own tracking algorithm(s) and update NXTCam-v4 or v3 with your firmware. Use the resources available here to accomplish this.
Advanced Programming Guide
How To Install Bootloader for AVR
AVR Firmware Development Tutorial
RobotC Utility Programs
NXC Library and Programs for Advanced Programming
NXT-G Block for Generic Firmware
Firmware that merges several blobs into one - by Xander