Abstract: This paper proposes a bi-camera real-time tracking system which is composed of two cameras: one is a static camera,and the other is a removable camera.The system implements real-time tracking of moving object by making use of the respective advantages and overcoming the disadvantages of the two cameras in the system.The system structure and functional partition of the bi-camera system are presented.The object matching on two image planes of the two cameras is achieved by homography relation educed from an approximate camera projective model.In the system,a 2D motion model is established on the image plane of the static camera to predict the position of the object by Kalman filter,then by using homography relation,the predicted position of object can be obtained on the image plane of the dynamic camera.Then,the rotation angle of the dynamic camera platform is calculated,and the servo control of the dynamic camera is implemented.