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Real-world environments such as houses and offices change over time, meaning that a mobile robot's map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metrictopological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, whichdoi:10.1016/j.robot.2011.02.013 fatcat:7ii3lhadfjg3rljcyip2gx2mxu