In scenes where there are lighting changes. localization may fail for visual SLAM due to feature point tracking failure. Thus. a feature point tracking method based on multi-condition constraints is proposed for visual SLAM. https://www.diegojavierfares.com/amazing-find-Bonnet-Protector-Guard-Suits-Holden-Calais-VT-VX-8-1997-9-2002-H260B-hot-choice/