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Localization is one of the fundamental problems for mobile robots. Hence, there are several related works carried out for both metric and topological localization. In this paper, we present a lightweight technique for on-line robot topological localization in a known indoor environment. This approach is based on the Generalized Voronoi Diagram (GVD). The core task is to build local GVD to match against the global GVD using adaptive descriptors. We propose and evaluate a concise descriptor baseddoi:10.1109/robio.2013.6739502 dblp:conf/robio/SongL13 fatcat:wq3376uxtjhebdw4vswjz6vjz4