Target object tracking method and device

The invention provides a target object tracking method and device. The method comprises the steps: extracting marked parts of a target object detected in a current frame parallax image; carrying out the clustering of parallax points in a next frame parallax image, so as to form a plurality of cluster; calculating the similarity of each cluster in the next frame parallax image with each marked part, so as to determined candidate clusters similar to the marked parts; carrying out the grouping of all candidate clusters according to the position relation among all marked parts, so as to enable the candidate clusters belonging to the same object to be divided into the same group; determining the similarity of each group with the target object based on the similarity of all candidate clusters in each group; selecting the group with the highest similarity, and enabling the position where the group is located to serve as the position where the target object is located in the next frame parallax image. Through the technology of target object tracking, the method also can obtain an accurate tracking result under the conditions that the posture of the target object is frequency changed and the target object is partly shaded.