Abstract: A system and method for optical localization of an autonomous mobile robot. The system includes a number of movable stationary landmarks defining an operating space for the robot. The robot includes a self-propelled mobile chassis, an optical sensor (a LiDAR sensor or optical camera) disposed on a raised portion and configured to detect the landmarks, and a controller configured to determine the position and orientation of the chassis based on information from the optical sensor. The landmarks have an elevated portion extending vertically to a height level which is equal to or higher than the horizontal plane of the optical sensor. Each landmark may have a cross-sectional feature and/or a visually distinct portion, to enable determining the orientation (of the optical sensor/mobile robot) relative to the landmark; as well as an identifier for uniquely identifying the landmark from others.