Abstract: A novel topological map is proposed in this paper,and its nodes are represented with the visual scale-invariant features and the beam features of the laser range finder.Compared with traditional map presentations,this method doesn't need the robot global localization nor the artificial landmarks to build the map.Both the similarity of single node and the spatial relationship between individual nodes are taken into consideration,and the Hidden Markov Model(HMM) is used to improve the node recognition rate.The navigation experiments demonstrate that the topological map is not only easy to build and maintain,but also suitable for autonomous navigation in large-scale indoor environment without any landmarks.