  A Neural Network-based method for unsupervised landmarks map estimation from
measurements taken from landmarks is introduced. The measurements needed for
training the network are the signals observed/received from landmarks by an
agent. The definition of landmarks, agent, and the measurements taken by agent
from landmarks is rather broad here: landmarks can be visual objects, e.g.,
poles along a road, with measurements being the size of landmark in a visual
sensor mounted on a vehicle (agent), or they can be radio transmitters, e.g.,
WiFi access points inside a building, with measurements being the Received
Signal Strength (RSS) heard from them by a mobile device carried by a person
(agent). The goal of the map estimation is then to find the positions of
landmarks up to a scale, rotation, and shift (i.e., the topological map of the
landmarks). Assuming that there are $L$ landmarks, the measurements will be $L
\times 1$ vectors collected over the area. A shallow network then will be
trained to learn the map without any ground truth information.
