- local metrical mapping in the scrolling local perceptual map;
- global topological mapping given the local metrical maps, generating a tree of all possible maps to resolve structural ambiguities;
- a global metrical map, given the local metrical and global topological maps.

- This ICRA-05 paper describes how places are detected during
continuous motion through a continuous environment. It provides an
extension to the Voronoi Graph that overcomes a number of problems.
Patrick Beeson, Nicholas K. Jong, and Benjamin Kuipers. 2005.

**Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph**.

IEEE International Conference on Robotics and Automaton (ICRA-05). - This ICRA-04 paper describes the scrolling local perceptual map,
the abstraction from place neighborhoods in small-scale space to
local topological descriptions in large-scale space, and the
map-tree algorithm for generating possible topological maps and
filtering them for consistency.
Benjamin Kuipers, Joseph Modayil, Patrick Beeson, Matt MacMahon, and Francesco Savelli. 2004.

**Local metrical and global topological maps in the hybrid Spatial Semantic Hierarchy**.

IEEE International Conference on Robotics and Automation (ICRA-04). - This IROS-04 paper shows how we can build a highly accurate
global metrical map, by using the structure of the topological map
as a skeleton.
Joseph Modayil, Patrick Beeson and Benjamin Kuipers. 2004.

**Using the topological skeleton for scalable global metrical map-building**.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04). - This IROS-04 papers describes a consistency test for proposed
topological maps based on planarity. This test prunes the tree of
possible maps dramatically.
Francesco Savelli and Benjamin Kuipers. 2004.

**Loop-closing and planarity in topological map-building**.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-04). - This AIJ paper, describing Emilio's PhD thesis, gives an
axiomatization in non-monotonic logic for the topological map.
Potential maps are pruned from the tree of maps if they violate
any of these axioms.
Emilio Remolina and Benjamin Kuipers. 2004.

**Towards a general theory of topological maps**.

*Artificial Intelligence***152**: 47-104, 2004. - This AIJ paper gives an overview of the Spatial Semantic
Hierarchy, which decomposes knowledge of large-scale space into
several different representations, each with its own distinctive
ontology for space.
Benjamin Kuipers. 2000.

**The Spatial Semantic Hierarchy**.

Artificial Intelligence Journal**119**: 191-233.

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