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In order to localize and navigate through an environment a mobile robot must have some idea of the layout of the environment. One useful method for storing relative information about an environment is through a process known as cognitive mapping. This paper outlines a method for collecting 3-D information from an environment, identifying landmarks, generating a cognitive map, and presenting the cognitive map to a human user for labeling. Once a cognitive map is generated the robot is able to localize and navigate within an environment. Once landmarks in the cognitive map are labeled, the robot is able to organize the cognitive map and present it to a human user who can use the map for their own navigation and localization.