Abstract: A tracking lines method based on Hough Transform was proposed.Rather than tracking lines in image space directly,the method makes use of duality theory in Hough Transform in order to transform line-tracking in image space into point-tracking in Hough space.The first step is to adopt the Kalman filter to preliminarily track the motion target.Then accurate characteristic point location is searched by using build-up moulding board and image matching correlation modulus.Experiment result shows that the presented method can provide a good estimation of the lines tracking.