Researchers propose a visual marker-aided lidar/IMU/encoder integrated odometry, Marked-LIEO, to achieve pose estimation of mobile robots in indoor long corridor environment. Aiming at the problems of GNSS information loss and lidar degradation in indoor corridor environment, this method introduces the state prediction information of encoder and IMU and the absolute obser-vation information of visual marker to achieve the accurate pose of indoor corridor environment, which has been verified by experiments in Gazebo simulation environment and real environment.