Abstract: In order to solve the environment recognition and mapping problems of rescue
robot, the matching method based on feature line is presented. This method makes use of the laser
radar to get the environmental information and adopts the feature extraction of matching line, so
that speed of the system is improved. When rescue robot is moving，the system can update global
map timely and accurately. In the rescue environment, rescue robot is used to do the environment
recognition and mapping. The experimental results show that mapping by using the matching
method based on feature line can get more complete environment map and the method is of very
good practicality.

Key words: rescue robot, SLAM, split-and-merge, feature line