PSA : The Harris Corner detector, while interesting to understand if you like linear algebra, is not exactly what you'd call state of the art in the feature detection layer of computer vision.
In terms of tech that's advancing at the moment? ML techniques. https://co-tracker.github.io/ if you want to track individual points, https://github.com/matterport/Mask_RCNN and its descendents if you want to detect, say, the cover of a book.