: In order to solve the problem of autonomous navigation of mobile robots in indoor environment, a linear distance feature extraction algorithm based on structured environment is proposed in this paper. Firstly, a robot motion model is established, and the point cloud data obtained by the laser radar is pre-processed. Then the pre-processed data is divided and combined by a clustering algorithm. The maximum angle tolerance of feature line segment is estimated by orthogonal fitting algorithm, and the vertical and horizontal feature lines are extracted for error correction. The simulation results show that the algorithm can effectively extract the feature line of the indoor environment and establish the feature map. At the same time, the data set and the icp algorithm are called to carry out the contrast test, and the result shows that the environment map can be constructed by using the algorithm, so that the time complexity of the building graph can be reduced, and the matching precision of the map can be improved.