Martinelli, A.Tapus, A.Arras, K.O.Siegwart, R.2006-12-072006-12-072006-12-07200310.1007/11008941_47https://infoscience.epfl.ch/handle/20.500.14299/237626WOS:000228862600038In this paper a hierarchical multi-resolution approach allowing for high precision and distinctiveness is presented. The method combines topological and metric paradigm. The metric approach, based on the Kalman Filter, uses a new concept to avoid the problem of the drift in odometry. For the topological framework the fingerprint sequence approach is used. During the construction of the topological map, a communication between the two paradigms is established. The fingerprint used for topological navigation enables also the re-initialization of the metric localization. The experimentation section will validate the multi-resolution-representation maps approach and presents different steps of the method.RECSYStext::conference output::conference proceedings::conference paper