The invention provides a CPU-FPGA cooperative image feature high-speed detection and matching system. The system comprises a first processor which is used for overall scheduling, image data transmission, image feature vector description and matching result storage and output; The second processor is used for image feature point detection and feature vector matching calculation; The first processortransmits the image pixel data to the second processor; The second processor processes to obtain image feature point coordinates and returns the image feature point coordinates to the first processor; The first processor generates and stores feature vectors; The first processor transmits the image feature vector data to the second processor, and the second processor transmits the to-be-matched feature vector optimal and sub-optimal matching distance values and the feature vector numbers obtained through matching calculation back to the first processor in real time; And the first processor judges and outputs the coordinates of the matching point pair according to the optimum and suboptimal matching distance ratio. The system is composed of the first processor and the second processor, thenumber of the second processors is increased according to needs, and the image feature detection and matching calculation efficiency is improved.