Pallet picking is one of the important links of automated warehousing. An algorithm was proposed for estimating the localization and angle of pallet with lake information, based on 2D Lidar. It aims at improving the recognition pallet ability of forklift and the flexibility in automated warehousing. A detection model was built to define the geometry relationship between detection region the number of lidar point (detecting the pallet foot), the width of pallet foot and the resolution of Lidar. The algorithm extracted the lines as candidate pallet foot with the improved incremental algorithm and calculate the angle of pallet. Then the dynamic template was created and matched with sliding window, to calculated the position of the pallet. The result shows that the detect region was expend with smaller the threshold number of laser, longer the width of pallet foot and higher resolution of Lidar; the detect region met the result calculated based on the pallet detect model; error on x axis and y axis were ±60 mm mm and ±59 mm respectively; pallet angle error was . With the flexible pallet detecting algorithm, the requirement of localization of warehouse equipment and human was reduced and effect would be enhanced.