technical reportIn this paper we describe an approach to high-level multisensor integration in t h e context of  an autonomous mobile robot. Previous papers have described the development of t h e INRIA  mobile robot subsystems:  1. sensor and actuator systems  2. distance and range analysis  3. feature extraction and segmentation  4. motion detection  5. uncertainty management, and  6. 3 -D environment descriptions.  We describe here an approach to:  ? the semantic analysis of the 3-D environment descriptions