Abstract:  The visibility of the moving target may be reduced by account that the target is shaded by the obstacle as it is moving. it will result in the loss of the critical information needed in our study and will decrease the reliability and accuracy of the tracking prediction. To overcome this problem, this paper proposes a new feature point method - moving Steiner point. Steiner point is a characteristic point of a object, with high stability and low eccentricity. Because of its robustness, tracking and predicting the location of moving target based on Steiner point have very good results. Once the object is partially occluded, then Steiner point will be lost. To recovery Steiner point, the definitions and related prosperities of the Steiner point are analyzed firstly, On the basis of its original mathematical definition, the concept of the moving Steiner point is presented and the continuity is proved. And the definition of the offset vector has been proposed. The mathematical relationship between the integral Steiner point and the topical Steiner point is established by taking advantage of the convex decomposion of Steiner point. By using the mathematical relationship, the occlusion model can be derived and the offset vector of the moving target’s Steiner point can be calculated. Simultaneously, combined with the Steiner point of the unobstructed area, the characteristic value, namely the position of Steiner point, of the moving object can be deduced accordingly. The model has resolved the dilemma of numerous corners being obstructed during the movement of the target. In order to settle the problem that the boundary of the moving target is a complex curve, two algorithms have been proposed in the paper. Algorithm I, converting the complex curve into a polygon which is easier to handle. Algorithm II, studying the case of the unit circle being occluded, thus the occlusion problem can be converted into the problem of angle. A series of the synthetic images experiments shows that Steiner point can be restored when the moving object is occluded.