Non-scanning imaging lidar, as a sensor, is applied in target tracking system to acquire distance image, intensity image and amplitude image, which makes it possible to achieve information fusion of the target. This system applies ARM as a hardware development platform which makes it easy to carry and achieve the system miniaturization. Target characteristics are extracted by the method combines codebook model and connected domain denoising to improve the accuracy of target characteristics extraction. Qt/Embedded development platform applied in building graphical user interface has a good architecture and programming mode which improves man-machine interaction and control efficiency. The results show the high accuracy of the target tracking, excellent man-machine interaction and perfect interface functions of the designed system.