This thesis presents an algorithm of moving object detection and tracking for robot concurrently localization, mapping and moving object tracking in dynamic environment. The major research topics include on-line object model construction as well as moving object detection and tracking. Apparent image features are detected and utilized as the training data for on-line constructing and sparse representing the object model. After the object model is constructed, the model elements are further matched with the image features obtained from the environment in order to recognize the object and search the object position in image and cartesian spaces. Furthermore, the developed algorithm is integrated with the methods of moving object detection, state estimation, and visual sensing to develop a system which is capable of tracking moving objects using moving camera. The detecting and tracking method developed in this thesis is capable of being applied in many systems such as mobile robot, wheelchair, car, and aerial robot to implement the tasks of parallel tracking and mapping in dynamic environments.