A walking environment line detection algorithm for mobile robot is proposed; preprocessing on environment information is performed

segmentation and extraction regulation to transform discrete distance information into line segments with distinct feature is designed. Fit straight line segments by least square method considering sensor errors. Compute fitting error as criteria of threshold automatic adjustment. Computing Mahalanobis distance between lines in polar coordinates

achieve line merging to reduce storage contents of line features under the circumstance of retaining all the environment information. Comparing to the Split-and-Merge algorithm

solve the problem of sensitivity of threshold parameters. It is proved by experiments that the proposed algorithm can effectively detects line features of environment.