We define the two-dimensional topological map, a model which represents both topological and geometrical information of a two-dimensional labeled image. Since this model is minimal, complete, and unique, we can use it to define efficient image processing algorithms. The topological map is the last level of a map hierarchy. Each level represents the region boundaries of the image and is defined from the previous one in the hierarchy, thus giving a simple constructive definition. This model is similar to two existing structures but the main innovation of our approach is the progressive definition based on the successive map levels. These different maps can easily be extended in order to define the topological map in any dimension. Furthermore we provide an optimal extraction algorithm which extracts the different maps of the hierarchy in a single image scan. This algorithm is based on local configurations called precodes. Due to our constructive definition, different configurations are factorized which simplifies the implementation.