— The advance of object tracking technologies leads to huge volumes of spatio-temporal data collected in the form of trajectory data stream. In this study, we investigate the problem of discovering object groups that travel together (i.e., traveling companions) from streaming trajectories. Such technique has broad applications in the areas of scientific study, transportation management and military surveillance. To discover traveling companions, the monitoring system should cluster the objects of each snapshot and intersect the clustering results to retrieve moving-together objects. Since both clustering and intersection steps involve high computational overhead, the key issue of companion discovery is to improve the efficiency of algorithms. We propose the models of closed companion candidates and smart intersection to accelerate data processing. A data structure termed traveling buddy is designed to facilitate scalable and flexible companion discovery from streaming trajectories...