Kuhnert 1990 : Basic concepts for navigation and orientation of autonomous mobile systems are the main subject of this paper. Landmark navigation helps to integrate singular observations into a global world model. In a vision-guided vehicle, observations may stem from dynamic vision allowing the control of movements by a video camera in real-time. The paper describes the combination of both approaches to an homogeneous system which is implemented in the experimental vehicle ATHENE. Considerations on the appropriate knowledge representation, the data structures, and aspects relevant to real-time implementation of the various maps or control systems are presented