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Visual tracking is still a challenging fundamental task in the field of computer vision, especially in complex scenes such as long-term occlusion, nonrigid deformation and fast movement. In this paper, we presented an RGB-D tracker based on the Siamese Region Proposal Network and Depth Information. First, Siamese Network with shared parameters was constructed to perform feature extraction on the target patch and search area. Second, Region Proposal Network was constructed to estimate the target position in the RGB channels. At the same time, the depth information in the RGB-D video was used to determine the target occlusion state and fine-tune the target position. Finally, the tracker used depth information to achieve occlusion recovery when the target was fully occluded. The experimental result shows that the method has better performance in tracking accuracy and tracking speed on the large-scale Princeton RGB-D Tracking Benchmark (PTB) dataset. [ABSTRACT FROM AUTHOR]