A tracking and guiding system based on machine vision for a laser-electronic theodolite was designed to improve its work efficiency and implement the dynamic measuring in a large space. Systematic architectures of the system was introduced and the motion characteristics of outrigger scanning instruments and laser-electronic theodolite were analyzed. Based on establishing a motion model of scanning instruments, the strategy of automation guidance for laser spots of the theodolite was realized by coordinate transformation and the process of searching the optical axis of a lens. Then, the method to focus and control the lens was given. Finally, the dynamic tracking method using extended Kalman filtering estimation for a moving object was proposed to locate the target and laser spots in a center region of the image simultaneously. The experimental results indicate that the status of the moving object can be predicted accurately and the final guiding accuracy for laser spots has been reached 008(°)/m. In conclusion, the proposed system combines the advantages of the dynamic measurement process for laser tracking and no limitation in measurement styles for theodolite, which allows the laser-electronic theodolite systems based on traditional angle forward intersection to dynamic measuring fields.