A real-time moving object tracking algorithm based on Kalman filter is proposed.The color and shape features are used together for the recognition of the moving color object in complex environment.The possible position of the moving object in the next frame is predicted by Kalman filter’s predictive function

and the global searching scope of an image is converted to local scope

thus the system efficiency is improved.The experimental results show that the algorithm is effective in mobile robot’s moving control

and the speedy tracking of moving object is realized.