In order to meet the real-time and precision requirements of visual feedback in robot control system, a real-time target tracking method based on Kalman filter prediction was proposed.This method uses the binocular vision system fixing the ball. , this method can predict the position of the moving target, define target search scope, and decrease the output noise, so as to improve the tracking speed and accuracy.The experimental results show that compared with particle filter and the original

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... man filter, this method is basically meet the real-time and accuracy requirements of visual control by using predicted value and close-loop control.