The method for robot selflocalization based on vision features heavy information load，high flexibility，and low cost as compared to traditional localization methods.Aimed at selflocalization of indoor mobile robots，“four principles” for artificial landmark design were proposed，while at the same time corresponding artificial landmark graphics were designed.The character encoding method was employed to define artificial landmarks，and the selflocalization method of shapes matching of least squares based on image pyramid was chosen.The selflocalization of the robot was completed by using the “foregone conclusionlocalizationorientation” hierarchical identification strategy.It is found through an experimental analysis that selflocalization reaches Subpixel accuracy，and the localization method has good realtime and recognition rate.