A target tracking device for tracking a moving target, based on X-ray fluoroscopic images from a plurality of directions, the target tracking device may include a plurality of X-ray fluoroscopic devices, an image processing unit, and a position determining unit. The X-ray fluoroscopic devices obtain a plurality of images from a plurality of directions, each of the images in a given direction having a different sensitivity. The image processing unit identifies a position of a target image based on pattern matching between the plurality of images and an image of the target. The position determining unit determines a 3D position of the target based on the position of the target image in the plurality of images from the plurality of directions.