The invention discloses a particle filter target tracking method based on multi-feature fusion. The method comprises the following steps: acquiring a video image and performing filtering processing; calibrating a tracking target in the initial frame by using a rectangular frame, and calculating an edge histogram, a texture histogram and a depth histogram of the target template; updating a particlestate by adopting a second-order autoregression model, and obtaining a feature histogram of each particle; calculating the similarity of the two templates, obtaining a single feature discrimination degree according to the position mean value, the standard deviation and the overall position mean value of the particles under the single feature, and adaptively adjusting the fusion weight; determining the particle weight at the current moment in combination with the observation model of multi-feature fusion and the particle weight at the previous moment; sorting the particle weights, counting thenumber of particles with small weights, comparing the number of particles with small weights with a threshold value, correcting the size of a window, and determining the state of a tracking target. According to the method, the edge, texture and depth characteristics are combined, so that the target can be tracked more accurately and continuously.