Abstract: It's very important to recognize the working environment for a mobile robot when it travels in the corridor automatically with its possible intelligence.Taking real-time control of mobile robot into consideration,a corridor recognition method with model matching based on objective model is presented.The image of the corridor in unpro-cessed gray image is matched using genetic algorithm by which the mobile robot can automatically adapt to the complex environ-ment and the proposed model with high robustness against noise such as lighting condition variations and obstacles is realized.The recognition effect is verified with real corridor images.