This paper proposes CrowdTracker, a novel object tracking system based on mobile crowd sensing (MCS). Different from traditional video-based object tracking approaches, CrowdTracker recruits people to collaboratively take photographs of the object to achieve object movement prediction and tracking. The optimization objective of CrowdTracker is to effectively track the moving object in real time and minimize the cost on user incentives. Specifically, the incentive is determined by the number of workers assigned and the total distance that workers move to complete the task. In order to achieve the objective, we propose the movement prediction (MPRE) model for object movement prediction and two other algorithms for task allocation, namely, T-centric and P-centric. T-centric selects workers in a task-centric way, while P-centric allocates tasks in a peoplecentric manner. By analyzing a large number of historical vehicle trajectories, MPRE builds a model to predict the object's next position. In the predicted regions, CrowdTracker selects workers by utilizing T-centric or P-centric. We evaluate the algorithms over a large-scale real-world dataset. Experimental results indicate that CrowdTracker can effectively track the object with a low incentive cost.