Human　detection　and　tracking　are　a　vital　part　of　mobile　robot.　In　this　paper,　a　method　of　improving　performance　of　human　detecting　and　tracking　based　on　stereo　vision　is　proposed.　The　proposed　method　is　to　get　the　human＇s　disparity　image　by　stereo　camera,　and　then　we　can　attain　the　human　feature　by　image　processing.　Hu　moment　is　chosen　to　detect　human　because　it　has　the　invariant　character　of　translation,　rotation,　proportion.　Robust　human　tracking　is　performed　with　Extend　Kalman　Filter　(EKF)　as　it＇s　flexible　and　easy　to　use　in　practical　environments.　Experimental　results　prove　that　the　proposed　method　is　reasonable.　©　2010　IEEE.