Method for navigating at least one self-propelled floor treatment device (1, 2, 3, 4), in particular at least one vacuum cleaner robot (1, 2, 3, 4), preferably a multiplicity of floor treatment devices (1, 2, 3, 4), wherein the drives of a respective floor treatment device (1, 2, 3, 4) are actuated as a function of obstacle information about obstacles detected by the respective floor treatment device (1, 2, 3, 4), in particular as a function of values of the distance and angle between the respective floor treatment device (1, 2, 3, 4) and at least one obstacle, wherein obstacles are formed at least by real objects, in particular walls, whose obstacle information is acquired by sensors on the respective floor treatment device (1, 2, 3, 4), in particular laser scanners, and wherein a respective floor treatment device (1, 2, 3, 4) captures images of the surroundings, in particular 360° panoramic images, at time intervals and/or spatial intervals at locations along the movement path with an on-board camera, in particular on the basis of which panoramic images a respective floor treatment device (1, 2, 3, 4) navigates by means of visual homing, characterized in that a. in a database, a topographical map is formed, into which a respective floor treatment device (1, 2, 3, 4) inserts, for each location (E, 6) at which an image of the surroundings is captured, a node to which at least the image of the surroundings is assigned, and connections are formed between a newly inserted node and at least one node which is already in the map and has already been inserted by the same floor treatment device (1, 2, 3, 4), to which connections relative metric information is assigned, in particular which information is determined by odometric data of the respective floor treatment device (1, 2, 3, 4), and b. by comparing the new image of the surroundings at the current location at which a new node is inserted into the map with all the images of the surroundings which have already been assigned to nodes in the database, it is determined whether at least one adjacent location (N1, N2, N3), at which a node and an assigned image of the surroundings has already been stored in the map by the same or another floor treatment device (1, 2, 3, 4), is located in a delimited area surrounding the current location which is associated with the new image of the surroundings, and c. when at least one such adjacent location (N1, N2, N3) is present a new connection is inserted starting from the newly inserted node to the associated node of each determined adjacent location (N1, N2, N3) in the topological map, and d. for at least one adjacent location (N1, N2, N3), preferably for all the adjacent locations (N1, N2, N3), to whose nodes new connections have been inserted into the map, obstacle information is calculated relative to the current location of the new image of the surroundings, in particular using visual homing, from the data stored in the map, and said obstacle information is used to perform open-loop or closed-loop control of the drives of the respective floor treatment device (1, 2, 3, 4). a. in a database, a topographical map is formed, into which a respective floor treatment device (1, 2, 3, 4) inserts, for each location (E, 6) at which an image of the surroundings is captured, a node to which at least the image of the surroundings is assigned, and connections are formed between a newly inserted node and at least one node which is already in the map and has already been inserted by the same floor treatment device (1, 2, 3, 4), to which connections relative metric information is assigned, in particular which information is determined by odometric data of the respective floor treatment device (1, 2, 3, 4), and b. by comparing the new image of the surroundings at the current location at which a new node is inserted into the map with all the images of the surroundings which have already been assigned to nodes in the database, it is determined whether at least one adjacent location (N1, N2, N3), at which a node and an assigned image of the surroundings has already been stored in the map by the same or another floor treatment device (1, 2, 3, 4), is located in a delimited area surrounding the current location which is associated with the new image of the surroundings, and c. when at least one such adjacent location (N1, N2, N3) is present a new connection is inserted starting from the newly inserted node to the associated node of each determined adjacent location (N1, N2, N3) in the topological map, and d. for at least one adjacent location (N1, N2, N3), preferably for all the adjacent locations (N1, N2, N3), to whose nodes new connections have been inserted into the map, obstacle information is calculated relative to the current location of the new image of the surroundings, in particular using visual homing, from the data stored in the map, and said obstacle information is used to perform open-loop or closed-loop control of the drives of the respective floor treatment device (1, 2, 3, 4).