Abstract: To make a hydraulic quadruped robot capable of following a guide effectively in the field environment, a method was proposed for the robot to estimate its relative position to the guide. Firstly, a guide sign was designed for the guide to be easy detected and recognized in the surrounding environment, for example the guide in a similar camouflage. And then a binocular vision positioning method was combined with monocular vision localization method to improve the accuracy and robustness of system positioning. The stereo vision was used to obtain the optimal estimate based on contour detection and dynamic programming, and the Newton iterative method was used to estimate the optimal pose. Finally, the effectiveness and positioning accuracy of the system were verified by the simulation experiments, and the feasibility of the system was proved by the experiments on the hydraulic quadruped robot.