I have created a self-signed SSL certificate for the localhost CN. Firefox accepts this certificate after initially complaining about it, as expected. Chrome and IE, however
UPDATE FOR CHROME 58+ (RELEASED 2017-04-19)
As of Chrome 58, the ability to identify the host using only commonName was removed. Certificates must now use subjectAltName to identify their host(s). See further discussion here and bug tracker here. In the past, subjectAltName was used only for multi-host certs so some internal CA tools don't include them.
If your self-signed certs worked fine in the past but suddenly started generating errors in Chrome 58, this is why.
So whatever method you are using to generate your self-signed cert (or cert signed by a self-signed CA), ensure that the server's cert contains a subjectAltName with the proper DNS and/or IP entry/entries, even if it's just for a single host.
For openssl, this means your OpenSSL config (/etc/ssl/openssl.cnf on Ubuntu) should have something similar to the following for a single host:
[v3_ca] # and/or [v3_req], if you are generating a CSR
subjectAltName = DNS:example.com
or for multiple hosts:
[v3_ca] # and/or [v3_req], if you are generating a CSR
subjectAltName = DNS:example.com, DNS:host1.example.com, DNS:*.host2.example.com, IP:10.1.2.3
In Chrome's cert viewer (which has moved to "Security" tab under F12) you should see it listed under Extensions as Certificate Subject Alternative Name: