Abstract: The existing indoor mapping technology has the shortcomings in high cost and high computational complexity, which is caused by the TOA (time of arrival) ambiguity of the acoustic impulse response (AIR) due to noise and reverberation in the indoor environment. To solve this problem, an indoor localization and mapping method based on combining AIR credibility judgment and Hough transform is proposed in this paper. Firstly, the method iteratively estimates the position of the sound source based on the Time Difference of Arrival (TDOA) and calculates the accurate TOA. Then, by using the elliptical constraint relationship between the acoustic transceiver and the first-order reflection TOA on the reflective surface and combining the credibility judgment and Hough Transform, the reliable low-order TOA is selected to achieve the two-dimensional position estimation of the indoor reflective surface. Monte Carlo simulation results show that in the complex indoor environment of 10m×8m×4m with reverberation time T₆₀ of 0.134 7 s and AIR error standard deviation of 22.7×10^-3 ms, the average distance error of wall localization is 10.1cm, and the average angular error is 2.795 8°. In the following experiments in a real room of 5.26 m×3.5 m×3.35 m, this method can realize the simultaneous localization of sound source and wall position, and complete the two-dimensional reconstruction of a box-type room. And the average distance error of wall localization is 2.6 cm, and the average angular error is 2.17°.