In　this　paper,　we　presents　a　method　of　human　detecting　and　tracking.　To　improve　the　robustness　and　real-time　performance　of　detecting　and　tracking,　we　propose　an　autonomous　robot　detecting　and　tracking　approach　based　on　stereo　vision　and　EKF.　In　view　of　diverse　human　motion　posture,　Hu　moment　of　the　head　and　shoulder　contour　is　adopted　to　recognize　human　body.　In　addition,　EKF　is　used　to　correct　and　predict　human　location　and　orientation,　and　an　adaptive　speed　control　for　mobile　robot　is　used　to　realize　a　robust　for　human　tracking.　This　paper　details　the　architecture　of　the　proposed　method　and　gives　some　experimental　results　to　verify　the　effectiveness　of　the　proposed　method.　©　2012　IEEE.