提出了一种基于单目视觉的移动机器人定位算法。该方法根据地平面假设，采用基于KLT 的角点检测与跟踪方法，运用基于平面的单应性关系，建立移动机器人位姿估计模型。在随机抽样一致性算法框架下，求解上述模型，实现移动机器人的初定位。在此基础上，引入角点特征的三角形结构估算平面参数差异，结合M-estimation 算法，有效地去除了非地面特征信息，提高了移动机器人的定位精度。室内环境下实验结果验证了所提算法的有效性与可行性。

A mobile robot localization method based on the monocular vision is proposed. According to the planar ground assumption, a plane homography-based mobile robot pose estimation model is established with the KLT corner detection and tracking algorithm. Under the framework of random sample consensus algorithm, the initial location of the mobile robot is realized by solving the above model. On this basis, a triangular structure of corner features is adopted for plane parameter estimation. Combined with M-estimation algorithm,the non-planar feature information is excluded efficiently and the location accuracy of mobile robot is improved.The indoor experimental results demonstrate the effectiveness and feasibility of the proposed algorithm.