In this paper an optimized line features extraction method is developed for real-time line features identification from 2D laser range finder A polished line prototype is subtly combined with Incremental algorithm which can detect line features efficiently.For ensuring the correctness,the selected line features are examined with split-and-merge fuzzy algorithm.This greatly enhances the robustness of line features extraction,especially in the clutter environment.Our method provides a novel framework which is very efficient and robust of line features extraction.Those advantages are very helpful for the further application of mobile robots such as simultaneously localization and mapping,real-time navigation in the clutter environment etc.The performance of this approach is verified by simulation and experiments.