Robot Self-location is an indispensable functional unit being widely recognized as the most difficult one in a robot navigation system．In this work，we concentrate ourselves on robot self-location by line correspondences．More specifically, we thoroughly investigate the following two topics： 1．Robot Self-Location by Two Line Correspondences In this part，we thoroughly investigate the problem of robot self-location by two line correspondences．We show that in general two line correspondences can provide sufficient information for the linear determination of robot'S pose，and the two space lines Can be either coplanar or non-coplanar．In particular，it is proved that the necessary and sufficient condition to determine linearly the robot's pose by two line correspondences is：
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