A precise collaborative localization scheme is proposed for multi-robot formation.The robot formation adopts the leader-follower model,and each robot of the group is equipped with its own unique sensors.All robots locate themselves by integreting the data from their inner sensors.The leading robot uses the binocular vision system to obtain the target orientation and distance information by object detection technique.The laser scanner is used to obtain the position and course of the member robots.A federal filter model is proposed for the integretion of data from those sensors to estimate the precise localization.To prove the proposed scheme,we have implemented a team localization experiment with a Pioneer 3-AT robot and three AmigoBot robots.The results verify that our proposed scheme is valid.