The Problem of Selection of Fingerprints for Topological Localization

Abstract:

Visual navigation is extensively used in contemporary robotics. In particular, we can mention different systems of visual landmarks. In this paper, we consider one-dimensional color panoramas. 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 mobile robot navigation. In this paper, we consider a method for automatic generation of fingerprints. Since a fingerprint is a circular string, different string-matching algorithms can be used for selection of fingerprints. In particular, we consider the problem of finding the consensus of circular strings under the Hamming distance metric.

• Periodical: Applied Mechanics and Materials (Volumes 365-366)
• Pages: 946-949
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.365-366.946
• Online since: August 2013
• Authors: Vladimir Popov
• Keywords: Consensus of Circular Strings, Fingerprint, Hamming Distance, Mobile Robot

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