Restricted　by　environmental　noise　and　the　sensor　itself　performances,　environmental　information　collected　by　various　sensors　of　mobile　robot　has　certain　uncertainty.　Laser　Range　Finder　(LRF)　has　high　precise　measurement　and　large　measuring　range,　but　it　can　only　acquire　the　environment　information　at　a　certain　level,　especially,　it　is　unable　to　detect　obstacles　below　the　level　of　LRF　measuring,　so　the　environmental　map　that　derived　by　it　is　incomplete.　Microsoft　Kinect　sensor　is　a　new　kind　of　range　camera,　it　has　advantages　of　low　price,　strong　capability　of　data　collection,　synchronous　acquisition　of　RGB　image　and　depth　image.　However,　it　encounters　problems　of　low　precision　and　limited　measurement　range.　To　fill　the　depth　holes　in　depth　image,　we　proposed　a　Combined　Median　Filter　(CMF)　algorithm.　Then　an　approach　which　fused　Kinect　with　LRF　is　proposed　for　obtaining　a　more　accurate　and　more　complete　environmental　map.　The　Robotic　Operating　System　(ROS)　which　provided　a　messaging　transformational　mechanism　for　software　modules　integration　was　chosen　as　the　robot　software　development　platform.