In this paper, we present a practical palce and object recognition method for guiding visitors in building environments. Recognizing palces or objects in real world can be a difficult problem due to motion blur and camera noise. In this work, we present a modeling method based on the bidirectional interactionbetween places and objects for simulataneous reinforcement for the robust recognition. The unification of visual context including scene context, object context, and temporal context is also. The proposed system has been tested to guide visitors in a large scale building environment(10 topological places, 80 3D objects)