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It is important for an autonomous mobile robot to know where it is in any time in an indoor environment. Thus, reliable position estimation is a key problem. In this paper we predefined line-based map and use the laser range finder to detect environment. We do not using any landmark, instead, our localization method is map-matching scheme using scan range data. In this paper we assume that robot has a predefined map which is composed of line segments and robot equipped with laser range finder to detect environment and using odometry to track robot position. Our localization method includes four parts: (1) Clustering scan data (2) Feature Extraction from laser range finder. (3) Matching with line-based map. (4) Position prediction. First, robot move randomly reading odometry and detect environment using our localization method to know where it is. As robot move with time evolving, the estimation of the position getting more accurate Finally, we have demonstrated the success of the robot localization and control the robot to perform the task as expected.