Visual Landmark Selection for Mobile Robot Navigation

Anna Gorbenko; Vladimir Popov

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Visual Landmark Selection for Mobile Robot Navigation

机译：移动机器人导航的视觉地标选择

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A large number of landmarks selection techniques has been proposed. However, finding optimal solutions requires to solve some hard problems. In this paper, we consider the p-minimum overlapping region decomposition problem that was proposed for landmarks selection. This problem is NP-complete. We describe an approach to solve the problem optimally. This approach is based on an explicit reduction from the problem to the satisfiability problem. Also, we consider some greedy algorithms for solution of the problem.

机译：已经提出了大量的地标选择技术。但是，找到最佳解决方案需要解决一些难题。在本文中，我们考虑了为地标选择提出的p最小重叠区域分解问题。这个问题是NP完全的。我们描述了一种最佳解决问题的方法。此方法基于从问题到可满足性问题的显式减少。另外，我们考虑一些贪婪算法来解决问题。

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《IAENG Internaitonal journal of computer science》 |2013年第3期|134-142|共9页
作者
Anna Gorbenko; Vladimir Popov;
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作者单位

Ural Federal University, Department of Intelligent Systems and Robotics of Mathematics and Computer Science Institute, 620083 Ekaterinburg, Russian Federation;

Ural Federal University, Department of Intelligent Systems and Robotics of Mathematics and Computer Science Institute, 620083 Ekaterinburg, Russian Federation;

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正文语种 eng
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关键词
visual landmarks; landmarks selection; mobile robot navigation; NP-complete; satisfiability problem; greedy algorithms;

机译：视觉地标;地标选择;移动机器人导航;NP完全;可满足性问题;贪心算法;

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专利

1. Real-world experiments setup for investigations of the problem of visual landmarks selection for mobile robots [J] . A. Gorbenko, V. Popov Applied mathematical sciences . 2012,第93a96期

机译：用于研究移动机器人视觉地标选择问题的真实实验设置
2. Real-world experiments setup for investigations of the problem of visual landmarks selection for mobile robots [J] . A. Gorbenko, V. Popov Applied mathematical sciences . 2012,第93a96期

机译：用于研究移动机器人视觉地标选择问题的真实实验设置
3. Saliency and spatial information-based landmark selection for mobile robot navigation in natural environments [J] . Kovacs Gabor, Kunii Yasuharu, Maeda Takao, Advanced Robotics: The International Journal of the Robotics Society of Japan . 2019,第9a10期

机译：基于效力和基于空间信息的地标选择自然环境中的移动机器人导航
4. Using learned visual landmarks for intelligent topological navigation of mobile robots [C] . Mata, M., Armingol, Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on . 2003

机译：使用学习的视觉界标进行移动机器人的智能拓扑导航
5. Sketch-based navigation for mobile robots using qualitative landmark states. [D] . Chronis, George. 2007

机译：使用定性地标状态的移动机器人基于草图的导航。
6. Three Landmark Optimization Strategies for Mobile Robot Visual Homing [O] . Xun Ji, Qidan Zhu, Junda Ma, 2018

机译：移动机器人视觉归位的三种地标优化策略
7. A visual landmark recognition system for topological navigation of mobile robots [O] . M. Mata, J. M. Armingol, A. De La Escalera, 2001

机译：用于移动机器人拓扑导航的视觉地标识别系统

Visual Landmark Selection for Mobile Robot Navigation

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