According to environment characteristic of airport terminal, a simple and feasible global localization method of terminal service robot based on PTZ vision is presented. Terminal signs are searched intermittently along “S” trajectory and zoomed by PTZ camera. To sight them accurately, the PTZ vision behavior based on fuzzy logic controller is designed. Then the signs will be identified based on SIFT features, and the global location of the robot can be finally gotten according to their location information and geometric pattern. The validity and practicability of this method are confirmed by actual robot experiments.