In video tracking, target detection and target tracking can not be implemented by an algorithm synchronously, so the image processing is complex and processing time is very long. To implement the target detection and target tracking of sequential color images in real time, a target tracking algorithm was presented based on a particle filtering in this paper. By taking the target information and target positions as the variables, a hybrid valued sequential state vector is established, and the target detection and the target tracking are implemented synchronously by using the particle filtering method. Moreover, in order to reduce process time, the color-based feature histogram is presented based on the pixel position weight in tracking fields as an observing vector, and then it is used in the posterior estimation successfully. Experimental results indicate that a target can be detected and tracked synchronously in 14.37 ms by using 150 particles for a color image with a size of 768 pixel×576 pixel. Obtained results also prove that the method has higher robustness due to its stable tracking state in the rotation and scalar change of the target.