A moving target tracking algorithm based on mean-shift algorithm and Kalman filter is proposed to effectively implement target tracking of mobile robot under complex environments.Through frame difference method

the target model is obtained under complex background

with the motion of robot as the input quantity of Kalman filter

the estimation value of Kalman filter as the starting position of the mean-shift algorithm and the mean-shift algorithm is used to obtain final target location.The occlusion judgment is used to solve occlusion problem.Experimental results show that the algorithm can track the moving target stably and accurately under complex environment and has good robustness to occlusion.