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Aiming at the deficiency of GPS and inertial navigation of outdoor mobile robot, this paper puts forward a visual detection method to identify the lane line information of the road surface in real time to assist position of the mobile robot based on GPS and inertial navigation. On the basis of the traditional Canny edge detection operator, the improved wavelet threshold algorithm and the Canny edge detection operator are used for fusion processing. The basic principle is to use the improved wavelet threshold algorithm to replace the traditional Gaussian filter for smoothing and noise reduction. After that, the Canny edge detection operator is used to extract the edge features. Finally, matlab software was used to process the collected road surface video information, and the deflection Angle and deviation distance of the mobile robot relative to the road lane line were calculated .The experiment found that only 892 out of 12,000 frames of images failed to detect, with a success rate of 92.6%, achieving a good effect and provide strong support for outdoor autonomous movement of mobile robot. Key words: mobile robot; lane lines; Canny edge detection operator;wavelet transform