Object tracking method in disparity map and system thereof

An object tracking method and a system thereof are provided. The method comprises the following steps that a first detection object in a first disparity map is detected and a position of the first detection object is obtained; the position of the first detection object is converted into a first-detection relative position based on a coordinate of a first predetermined reference point in the first disparity map; based on the first-detection relative position, and a predetermined motion direction and a predetermined motion speed of the first detection object, an estimation position of a first estimation object corresponding to the first detection object in a second disparity map is estimated; a second detection object in the second disparity map is detected and a position of the second detection object is acquired; the position of the second detection object is converted into a second-detection relative position based on a coordinate of a second predetermined reference point in the second disparity map; based on the estimation position of the first estimation object and the second-detection relative position of the second detection object, a tracking and matching relation between the first detection object and the second detection object is determined.