The purpose of this study is to realize high-speed tracking of both the position and the orientation of the target by a monocular active vision system. We adopt PWP3D algorithm for high-speed target tracking and pose estimation. The posture trajectory of target is estimated at 400[Hz] by a monocular RGB camera, the result then feed-into a real-time control machine to actively tracking the target. The operation speed of entire system is asynchronous at 500[Hz]. Experiment result shows our method improves the performance of monocular-based target tracking in both convergence speed and robust, compared to the previous research. As a result, our system is capable of tracking object which rotates at 650[rpm] as maximum speed.