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In the Dynamic Background, due to the changes of background, it is difficult to effectively extract moving target. This paper adopts the gray projection matching algorithms to transform dynamic background into static background and then extracts the moving target using frame difference method. Meanwhile, according to the extracted position coordinates, the deflection angle of moving target between adjacent frames can be calculated to track the moving target more precisely. The experiment indicates that this method can better adapt the impact generated by the changes of light and the surrounding environment. In the case that the mobile robot with camera tracks the moving target, a good result has been achieved.