This paper presents a novel method of combining topological and
feature-based mapping strategies to create a hierarchical approach to
simultaneous localization and mapping (SLAM). More than simply running
both processes in parallel, we use the topological mapping procedure
to organize local feature-based methods. The result is an autonomous
exploration and mapping strategy that scales well to large
environments and higher dimensions while confronting the issue of
obstacle avoidance. We have obtained successful results of our
approach in an area spanning 5000 square meters.