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For many existing tracking algorithm is difficult to meet the development needs of embedded tracking in terms of speed and accuracy, fast tracking algorithm is proposed based on Harris corner and Pyramid optical flow, with details on DSP-FPGA hardware design given. Firstly, Harris corner is used to extract feature points of targets. Then, Pyramid optical flow is used to match corner for subsequent video frame. Finally, centroid tracking algorithm based on corner is used to match the center of gravity, determining the location of the target, better counteracting distortions caused by the rotation or deformation. In the hardware implementation process, FPGA convenient circuit design using a hardware description language program hardware algorithms, logic control and external interface, and DSP runs target tracking algorithm. The effectiveness of the proposed algorithm implemented in hardware is verified by experimental results. Compared to trackers in AVT21 development board, centroid algorithm, phase correlation tracking algorithm and pyramid correlation tracking algorithm, the proposed algorithm has more advantages in means of overlapping and means of center error. In 720p video stream, the video can satisfy 25fps.