In　this　paper,　we　determine　the　three-dimensional　coordinates　of　the　obstacle　with　binocular　vision　sensor　based　on　the　application　of　improved　SIFT　(Scale-invariant　feature　transform)　algorithm,　the　data　will　be　treated　as　the　the　model　generator　of　Voronoi　diagram　to　complete　the　global　map　building.　The　biggest　advantage　of　the　V　diagram　is　that　the　environmental　path　road　is　based　on　the　vertical　of　the　discrete　centers　of　obstacles,　which　may　make　sure　that　the　robot　can　keep　away　from　the　obstructions　during　operation.　The　experimental　result　shows　that　the　map　after　construction　demonstrate　high　reliability　which　consistent　with　the　requirements　of　navigation.　©　2011　IEEE.