Abstract: A moving object tracking algorithm based on the color information and shape information was proposed,for the humanoid soccer shows poor performance on detecting moving object effect and is easily affected by the variable illumination.It implements rapid image threshold segmentation based on color information in the HSI color space,obtains the object information,and was joined by the adaptive threshold update to improve the robustness of algorithm.The possible position of the moving object in the next frame is predicted by Kalman filter,then,according to the shape information,implements optimizing edge detection to recognize the object in local area,obtains the accurate object location information in the image,then continues to track.The experiments show that this algorithm can accurately track the moving object,satisfy the requirement of the real-time.