The self-driving mine locomotive needs to detect and locate pedestrians in front of it in the underground roadway in real-time. Non-visual methods such as laser radar are costly, while traditional visual methods based on feature extraction cannot solve the problem of poor illumination and uneven light in the laneway. To solve the problem, a pedestrian visual positioning algorithm for underground roadway based on deep learning was proposed. Firstly, the overall structure of the system based on deep learning network was given. Secondly, a multi-layer Convolutional Neural Network (CNN) for object detection was built to calculate the two-dimensional coordinates and the size of bounding box of pedestrians in visual field of the self-driving locomotive. Thirdly, the third-dimensional distance between the pedestrian in the image and the locomotive was calculated by polynomial fitting. Finally, the model was trained, verified and tested through real sample sets. Experimental results show that the accuracy of the proposed algorithm reaches 94%, the speed achieves 25 frames per second, and the distance detection error is less than 4%, thus efficient and real-time laneway pedestrian visual positioning is realized.