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To realize the function of obstacle detection and avoidance on the robot moving fastly,embedded system design scheme of obstacle localization and avoidance based on monocular vision robot is proposed. With H space of the HSI space divided into three blocks,color moment features of these blocks are compared to detect obstacles. In order to locate obstacles correctly and measure distance between obstacles and the robot,a relationship between the robot coordinates and the vision coordinates is deduced by geometrical reasoning. To quickly avoid obstacles,the output rotation angle is obtained by fuzzy controller which can receive the obstacle distance and deviation angle to the original direction. The experimental results show that the system is real-time and feasible,and this system realizes the fast detection,localization with the image information and meets avoidance of obstacle through the fuzzy controller.