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In view of the model change of soccer robot in games as well as inaccuracy of a priori estimate to the ambient noise, a kind of visual tracking algorithm is put forward for the soccer robot based on the Adaptive Kalman Filter (AKF). The algorithm combines a moving target recognition method based on background subtraction and the AKF tracking model together, makes real-time update to the backgrounds, removes the residual small areas through morphological filter, and thus accurately recognizes the moving targets. The adaptive online adjustment of motion model parameters is adopted to ensure accuracy of predicted values of the model, so that the matching efficiency at the target tracking is improved, and the accurate and rapid tracking of the target is achieved. It has been proved through experiment that this algorithm is efficient and worthy of popularization. 