A vision-based mobile robot localization method was proposed. The fundamental matrix and essential matrix was obtained by Scale Invariant Feature Transform (SIFT) matching algorithm. After the decomposition of essential matrix, the external motion parameters of single-eye camera were got. Finally, the structure was used from motion method to obtain three-dimensional information and carry out object localization. The three-dimensional information acquisition process and the computer simulation result were given. The results show that the meth...