The invention discloses a near-infrared binocular visual stereo matching method based on a reflecting ball mark point. According to the method, the three-dimension geometric size characteristic of thereflecting ball mark point is utilized, and false matching point pairs of the near-infrared binocular visual mark point are removed so as to obtain the rapid and robust stereo matching result, so that space three dimensional coordinates of the mark point are accurately calculated, and real-time and robust tracing position on the mark point is achieved accordingly. The corresponding relation of the mark point at left and right camera image points can be efficiently and accurately, and false matching is effectively eliminated, so that interference of a false three-dimension space point to optical localization is excluded so as to improve the positioning accuracy and robustness of a near-infrared optical localization system.