We present a simple artificial landmark model and a robust tracking algorithm for the navigation of indoor mobile robots. The landmark model is designed to have a three-dimensional structure consisting of a multicolored planar pattern. A stochastic algorithm based on Condensation  tracks the landmark model robustly using the color distribution of the pattern. A new selflocalization algorithm computes the location of robot with the tracked single landmark. Experimental results show that the proposed landmark model is effective. Through extensive navigation experiments in a cluttered indoor environment, we demonstrate the feasibility of the single view based self localization in real-time.