Autonomous finding of landmarks for guiding long distance navigation by a mobile is explored. In a trial navigation, the robot continuously views and memorizes scenes along the route. When the same route is subsequently pursued again, The robot locates and orients itself based on the memorized scene. Since the stream of images is highly redundant, it is transformed into an intermediate 2(1/2)D representation, called Panoramic Representation, with much less amount of data. Although the Panoramic Representation can be used for guidance of the autonomous navigation, it still contains a huge amount of data for a very long route. A human memorizes only very impressive objects along the route such as an old church or a very high tower and uses th,em as landmarks. Our robot also finds distinctive objects along the route and memorizes their features as well as spatial relationships f o r navigation guidance. 3 0 objects along the route are segmented in the Panoramic Representation by fusing range estimates and color attributes, and th,en a structure m a p representing their arrangement in space is yielded. I n order to find distinctive objects used for the landmarks, the spatial relationsh.ips, shapes and color attributes of the objects are examined.