Mobile robot needs to have the enough sensor information in the movement scope to supply to use carries on the autonomous navigation.The information establishment environment model which in the completely unknown environment

depends upon its oneself by the robot which to carry the sensor provides is one of the robot carries on autonomous localization and navigation premises.The applied research of the laser ranging in the mobile robot autonomous navigation is introduced

then to its environment the scanning is carried on through the two-dimensional range finder sensor

the map building and localization in the autonomous navigation is proposed how to use the two-dimensional scanning to obtain the three dimensional data stream the algorithm description

and the experiment confirms this algorithm is allowed to cause the robot to obtain a very good three dimensional visual structure drawing.