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Accurate self-localization is the basis to realize mobile robot’s autonomous ability such as path planning, cooperation and control decision.Compared with the mature industrial application of the robot,indoor service robots have some of their own key technologies, such as real-time self-localization, and avoiding a variety of static and dynamic obstacles effectively. Therefore, a self-localization method of indoor mobile robot based on RGB-D camera is proposed. Firstly, the Hough transform is used to extract the line feature of the environment map and establish the environment model error table.Then the self-localization method combined with matching optimization algorithm is used to calculate the robot’s position rapidly and accurately. The experimental results show that the robot can realize real-time and accurate self-localization.