@inproceedings{ZivkBakkKroe2005,
authors="Z.Zivkovic and B.Bakker and B.Krose",
title ="Hierarchical Map Building Using Visual Landmarks and Geometric Constraints",
booktitle="In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems",
pages="7-12",
year=2005,
abstract="This paper addresses the problem of automatic
construction of a hierarchical map from images. Our approach
departs from a large collection of omnidirectional images taken
at many locations in a building. First a low-level map is built
that consists of a graph in which relations between images are
represented. For this we use a metric based on visual landmarks
(SIFT features) and geometrical constraints. Then we use a
graph partitioning method to cluster nodes and in this way
construct the high-level map. Experiments on real data show
that meaningful higher and lower level maps are obtained,
which can be used for accurate localization and planning"
}