  A key aspect of the precision of a mobile robots localization is the quality
and aptness of the map it is using. A variety of mapping approaches are
available that can be employed to create such maps with varying degrees of
effort, hardware requirements and quality of the resulting maps. To create a
better understanding of the applicability of these different approaches to
specific applications, this paper evaluates and compares three different
mapping approaches based on simultaneous localization and mapping, terrestrial
laser scanning as well as publicly accessible building contours.
