Problems of visual navigation are extensively studied in contemporary robotics. In particular, we can mention different problems of visual landmarks selection, the problem of selection of a minimal set of visual landmarks, selection of partially distinguishable guards, the problem of placement of visual landmarks. In this paper, we consider one-dimensional color panoramas. Such panoramas can be used for creating fingerprints. Fingerprints give us unique identifiers for visually distinct locations by recovering statistically significant features. Fingerprints can be used as visual landmarks for the solution of various problems of mobile robot navigation. In this paper, we consider a method for automatic generation of fingerprints. In particular, we consider the bounded Post correspondence problem and applications of the problem to consensus fingerprints and topological localization. We propose an efficient approach to solve the bounded Post correspondence problem. In particular, we use an explicit reduction from the decision version of the problem to the satisfiability problem. We present the results of computational experiments for different satisfiability algorithms. In robotic experiments, we consider the average accuracy of reaching of the target point for different lengths of routes and types of fingerprints.
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21 July 2017
INTERNATIONAL CONFERENCE OF NUMERICAL ANALYSIS AND APPLIED MATHEMATICS (ICNAAM 2016)
19–25 September 2016
Rhodes, Greece
Research Article|
July 21 2017
Fingerprints selection for topological localization
Vladimir Popov
Vladimir Popov
Ural Federal University
, Department of Intelligent Systems and Robotics, Mathematics and Computer Science Institute, Lenin st., 51, 620083 Ekaterinburg, Russian Federation
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AIP Conf. Proc. 1863, 560045 (2017)
Citation
Vladimir Popov; Fingerprints selection for topological localization. AIP Conf. Proc. 21 July 2017; 1863 (1): 560045. https://doi.org/10.1063/1.4992728
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