针对室内移动机器人定位问题提出了一种基于目标识别的运动视定位方法.该方法确定机器人相对于其接近目标的位姿.选取目标上与相机投影中心相对于地面等高的两个点作为特征点,首先拍摄一幅包含这两个特征点的图像,机器人移动后再拍摄一幅包含这两个特征点的图像,该方法就能根据这两个特征点在这两幅图像中的坐标计算出机器人移动前后的位姿.该方法只需两个特征点和两幅图像.因而比较简单且有较高的实时性.试验结果验证了该方法的有效性. A moving target localization method based on target recognition is proposed for indoor mobile robot positioning problem. The method determines the pose of the robot relative to its approach to the target. Two points at the same height as the projection center of the camera relative to the ground are selected as the features Point, first take an image containing the two feature points, the robot moves and then take an image containing the two feature points, the method can be based on these two feature points in the two images in the coordinates of the calculation The robot possesses the same pose before and after moving, which requires only two feature points and two images, so it is simpler and has higher real-time performance. The experimental results verify the effectiveness of the proposed method.