In view of the continuous technological innovation in marine engineering and the growing demand for enhanced adaptability to complex sea conditions, the binocular vision-based KCF (Kernelized Correlation Filters) algorithm is used as the target detection method based on the wave compensation device detection system. Based on the binocular vision, this method detects the load motion, capture the image feature points, calculates the position of the load in the inertial reference frame through coordinate system transformation, and monitors the spatial position and attitude of the replenished object in real time. The relative movement between the load and the replenishment ship can be eliminated by controlling the six-degree-of-freedom motion of the load, thereby achieving wave compensation. Program is developed under the Ubuntu system based on the robot operating system (ROS). Comparison and simulation are then conducted with a wave compensation prototype to validate the feasibility of the proposed detection and tracking method. The results indicate that this method is suitable for wave compensation systems.