The embodiment of the invention discloses a target monitoring method and device, and a computer readable storage medium. The method comprises the following steps: acquiring video detection informationand radar detection information of a preset monitoring region at the current moment; computing a centroid matrix of all video detection targets and radar detection targets according to the video detection information and the radar detection information; determining a minimum value for representing the distance to the relatively close radar detection target from each video detection target in eachline of the centroid matrix; comparing the minimum value with the preset distance threshold, and determining the centroid successfully matched target and residual targets after rejecting the successfully matched targets in the video detection target and the radar detection target according to a comparison result. By implementing the target monitoring method disclosed by the embodiment of the invention, two types of the detection information are integrated and processed by considering that the difference is existent between a radar detection result and a video detection result, all detection targets are divided into three types of targets through centroid matching, and the accuracy, the comprehensiveness and efficiency of the target monitoring are effectively improved.