Topological map building from PAL images with navigation purpose

For mobile robot navigation the topological map building is one from the applied approaches. However in this paper during the construction of this map image sequences are taken using panoramical annual lens (PAL) [1], where the main advantage is the rotational invariant, scalable description of the whole 360 degrees environment. The paper examines two kinds of appearance based methods those can be used for topological maps during the mobile robot navigation.