In the optical marker-assisted drogue positioning system, the rapid and high-precision extraction of the optical mark is an important foundation for the positioning of the drogue. In practical application scenarios, the longer the working distance, the weaker the imaging of the point features. And the complex background interference greatly reduces the accuracy of centroid extraction. By analyzing the characteristics of optical marking points and circular features, combined with the structural characteristics of the drogue, the circular feature of the optical marking is extracted so that the effective feature area, which is used to replace the global search, can be segmented to eliminate the background interference accurately. Furthermore, this paper mainly proposes a two-level high-efficiency point feature centroid extraction algorithm that combines the FAST-like threshold coarse localization method and the two-dimensional Gaussian residual centroid fitting method. The method identifies the spot features and obtains the rough position quickly by setting the brightness threshold. On this basis, the sub-pixel centroid coordinates are extracted by fitting calculation in the pixel distribution neighborhood of the spot. Experiments results show that the proposed algorithm meets the real-time extraction requirements. Compared with other classical algorithms, the algorithm can maintain a high accuracy and achieve a high level of stability.