In view of the lack of indicators and the imperfection of technology in measurement and evaluation of mobile robot environment mapping, this paper takes wheeled robot and FastSlam mapping algorithm as the research object, constructs physical scene and standard digital map, and extracts accurate, effective and reliable environmental map evaluation indicators to measure and evaluate the mapping sensor lidar and its mapping results from all directions. This method proposes multiple evaluation indicators such as global feature parameters and local feature parameters, providing support for the reasonable evaluation of the quality of mobile robot environmental mapping and the superiority of environmental mapping algorithms.