Semantic mapping is the process that creates a representation of the environment suitable for the implementation of complex tasks and behaviors that require both geometric and semantic knowledge. We will present an overview of the approaches to Semantic Mapping, and then, we will focus on the interactive approach developed at RoCoCo laboratory. Subsequently, a novel system for semantic mapping will be introduced together with a methodology for systematic benchmarking of semantic mapping approaches. The key distinguishing elements of this methodology are the following: (i) it allows for the evaluation of both metric and semantic information; (ii) it takes into account the navigation of the robot in the environment; (iii) it is accompanied by a simulation environment, that will be used for the practical activity.