NAO机器人是具有一定智能的可编程人形机器人。基于NAO机器人在室内环境下其摄像头能够保持平面运动的特点,通过简化的Nister-5点法设计了应用于NAO机器人的单目视觉里程计模块,并通过在关键位置上对Naomark标识的捕捉建立NAO机器人的绝对坐标,从而确定单目视觉里程计的初始坐标和位移尺度并纠正其累积误差,实现了NAO机器人在室内环境下的自主导航。 NAO robot is a certain intelligent programmable humanoid robot. Based on the feature that the NAO robot can keep the camera moving in a flat environment under indoor environment, the monocular vision odometer module applied to the NAO robot is designed by the simplified Nister-5 point method. By capturing the Naomark logo in the key position, NAO robot’s absolute coordinates, so as to determine the monocular visual odometer’s initial coordinates and displacement scale and correct its cumulative error, to achieve NAO robot in the indoor environment of autonomous navigation.