Your project should be able to do all of those things with the D435, but you will need to combine its RealSense SDK 2.0 software with modules provided by other software platforms such as OpenCV and ROS, as the SDK 2.0 does not have built-in support for the detection and tracking features that you listed. SDK 2.0 is compatible with being integrated with a range of platforms such as OpenCV, ROS and LABVIEW.
C++ 11 (GCC 5 / Visual Studio 2015 Update 3)
Python 2.7 / 3.6
.NET / C#