The invention belongs to the technical field of the mobile robot visual positioning, and particularly relates to a binocular full-view visual robot self-positioning method based on an SURF algorithm. The method comprises the following steps: (1) setting an artificial road sign as prior position information; (2) matching the features by the improved MDGHM-SURF; (3) eliminating the error matching by a matching point gravity center iterative algorithm; (4) ranging by the three-dimensional backlight path imaging of a vertical-base-line binocular full-view system; (5) positioning by the full-view triangle; and (6) forecasting a detection window to accelerate the positioning speed. The method is capable of, in allusion to the indoor self-positioning problem of the mobile robot, through setting the artificial road sign as the prior position information, executing the feature point rapid detection by using the improved MDGHM-SURF algorithm, executing the road sign identification positioning through the feature matching, reducing the matching error by the matching point gravity center iterative algorithm, improving the positioning accuracy of the road sign center, forecasting the road sign detection area by the robot motion state, and improving the positioning rapidity in the movement.