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Abstract. This paper describes a landmark-based algorithm for map matching, and demonstrates its use in e ciently combining topological maps of indoor environments built by autonomous mobile robots. Results of the rst implementation are presented, in which t wo robots with di erent m e c hanics and sensory capabilities independently explore their environments with no a priori maps. Each robot is initially unaware of the other's relative position and orientation. Using the match algorithm, they eventually merge their maps into a topologically correct single map in real time, based only on the feature sets they have discovered independently.

In this paper, we consider the problem of super-resolving a human face video by a very high (×16)