Abstract: Aiming at high speed visual tracking, this paper presents a new control scheme from the point of integration of vision and control. To track a curve, the control is decomposed into two subfunctions. One is the velocity control which controls the center of a CCD camera to move along the tangential direction of the curve. The other is the position control which controls the cneter of the CCD camera to move in the normal direction approaching to the curve. In order to improve the tracking performances, the proposed control scheme was realized in servo rate by the aid of a transputer based parallel controller. The tracking speed reached 250mm/s with a small field of view(26.4mmX26.4ram).