Aiming at the target extracting, matching and relative pose/position calculation of cooperative target vehicle, the information of gray-image and the depth-image collected by Time-of-Flight (TOF) camera is used for target detection and key-point selection, based on which the feature point matching is implemented and the relative pose/position of the cooperative target is determined. First, the gray information is used for target detection. Then, the critical feature points are selected based on the depth information and morphology of the target, and the deterministic annealing algorithm based on MRF is used for feature point matching. Finally, the Singular Value Decomposition (SVD) algorithm is used to estimate the relative pose and position between the target vehicle and the tracking vehicle. The experimental results demonstrate the effectiveness and the robustness of the proposed procedure.