When a blind person starts to cross a crosswalk, he/she may need to track moving objects such as pedestrians, pets, and so on in in order to avoid collision. This paper proposes a method of moving-obstacle tracking on a crosswalk for blindperson navigation system. In the method, borders of a crosswalk in front of the blind person is first determined using straight white lines on an intensity image, and a depth image is simultaneously used to detect candidate moving obstacles using differences among neighboring frames. The moving objects are then determined by height of the candidates, and positions of moving objects, which are assumed to be pedestrians and pets, are obtained from the depth image. This position information on previous image frames is finally used to estimate movement vector based on the moving object trajectory, and rectangular windows are employed to track moving objects in the next frame. To evaluate performance of the proposed method, experiments with pedestrians at a crosswalk were performed, and results showed effectiveness of the proposed method.