<FONT face=Verdana>A global localization and selfdocking method for mobile robot is presented.The method is composed of two stages:during the offline stage

SIFT (scale invariant feature transform) algorithm is used and a DDBBF (double direction best bin first) matching method is presented to implement the 3D reconstruction of vision features;an ES (evolution strategy) and adaptive re-sampling scheme were applied in RBPF (RaoBlackwellized particle filter) to implement the mobile robot SLAM (simultaneous localization and mapping).In the online stage

the global docking station is recognized through HMM (Hidden Markov Model) based methotd

he global metric pose and location of the robot are estimated by a RANSAC algorithm;and then an epipole servoing method is presented to dock the robot precisely.Experiment results carried out with a real robot in an indoor environment show the superior performance of the proposed method.