针对于无人机跟踪过程中目标遮挡和目标背景变化等因素导致跟踪失败的现象，一种MTF（Mean-shift by TWH and FB-error）跟踪算法被提出。首先，在Mean-shift跟踪框架下引入目标加权直方图（TWH: Target-Weighted Histogram）描述目标，即在跟踪过程中，用目标的局部背景来削弱所有区域的内部背景特征，使目标特征突出；其次，添加FB-error约束，在目标被部分遮挡时，通过使用FB-error相关加权函数把目标当前位置的预测结果与Mean-shift矢量计算出的位置结果联合起来估计目标在t时刻的最终位置。实验表明，此跟踪算法在跟踪精度上有较大突破。

In view of the phenomenon that the factors of occluded target and it’s changed background lead to failure in the process of tracking, a MTF (Mean-shift by TWH and FB-error) tracking algorithm is proposed. Firstly, Target-Weighted Histogram (TWH) is introduced to describe target in Mean-shift tracking framework, i.e., using local-background of target to weaken inner-background features of all-region in order to make target features prominent in tracking process; secondly, FB-error restriction is introduced, the predicted results of target current position and the calculated results of mean-shift vector are combined together to estimate the final target location of time t by using weighted function about FB-error. The experimental results show that the proposed tracking algorithm has great breakthrough on tracking accuracy.