A tracking method, comprising: acquiring a feature point of a controller by a camera of a HMD, wherein the feature point is used to indicate a corresponding location of the controller; receiving state information of the controller collected by an IMU of the controller, wherein the state information includes position information and rotation information of the controller; and determining a current state of the controller according to the feature point and the state information, wherein the current state includes a current position and a current rotation of the controller.