This paper proposes map building method. Sensors such as a laser range finder, a gyroscope, encoders multiply compose the system. Generally, mobile robot can measure its relative position using a gyroscope and encoders in an environment. However, in this case, a large number of errors occur due to accumulative errors of sensor over time. Therefore, a map based on feature points is used. And an absolute position is measured by the feature points and geometrics. As combining the relative position and the absolute position, mobile robot can recognize its position. According to compositional data of a map, in case of a laser range finder, it takes a long time when adding a map or calculating a position of mobile robot. Therefore, it is necessary to arrange the feature points for computational time and map building. In this paper, a map was formed by laser range finder and features of geometrics. As a result of proposed method, the map was built efficiently in an aspect of time.
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