Visual localization and motion estimation for a mobile robot are investigated.First a monocular vision system is presented to deduce a visual depth measurement model by means of landmarks

pinhole imaging model and spatial geometrical relationship

thus localizing the mobile robot and a moving object.Then

a feature-based motion analysis method is proposed to estimate motion parameters of the object from sequential images.A motion model for the robot to track the moving object is deduced.Experimental results show that the object is localized accurately.