对基于垂线和水平线的机器人自定位问题进行了系统的研究．所得主要结论如下： （１） 当空间直线都垂直于机器人运动平面时，机器人的位置与朝向无法线性求解；（２） 当空间直线都平行于机器人运动平面时，至少需要三组直线对应对（一组直线对应对由一条空间直线和对应的图像直线构成；垂直直线对应对是指空间直线为垂线的直线对应对；水平直线对应对是指空间直线为水平线的直线对应对）才能线性求解机器人的位置与朝向；（３）当空间直线都垂直于机器人运动平面时，至少需要三组直线对应对才能非线性求解机器人的位置与朝向；（４） 当空间直线都平行于机器人运动平面时，同样至少需要三组直线对应对才能非线性求解机器人的位置与朝向． The robot self-localization problem based on vertical and horizontal lines is studied systematically. The main conclusions are as follows: (1) When the space is perpendicular to the robot plane, the position and orientation of the robot can not be linearly solved; (2) When the space is parallel to the robot plane, A set of line-to-line correspondences consist of a space line and a corresponding image line; a line-to-line correspondence means a line-to-line correspondence of space lines to a line; a line-to-line correspondence means a line correspondence of space lines to a line) (3) When the space line is perpendicular to the plane of the robot movement, at least three sets of line correspondences are needed to solve the position and orientation of the robot nonlinearly; (4) When the space line is parallel to the plane of the robot movement, , You also need at least three sets of straight line counterparts to solve the robot’s position and orientation nonlinearly.