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Topological visual maps contain different abstraction levels of information that can be used by robots to carry out different activities. We propose here a new hierarchical structure in which landmarks extracted from conventional images are grouped creating a graph of planar regions. The new hierarchy improves previous approaches based on images reducing both, the size of the graph and its complexity. In order to segment and group the planar regions of a sequence of images a new approach baseddoi:10.1109/iros.2009.5354184 dblp:conf/iros/MontijanoS09 fatcat:5sigwpab2rasdn5rqse7ls2pdi