 The proposed method uses Optical Flow, Descriptor, and Ransack to track feature points in complex environments. It eliminates incorrect feature point matches layer by layer, balances the quality and uniformity of the extracted feature points, and reduces the location error by approximately 85%. This method is more accurate than the Ransack method and is suitable for use with lighting changes, image blurring, and unclear textures. This article was authored by Zi Bin Wu, De Ping Li, Chuang Ning Li, and others.