Building the Panoramic Image for Mobile Robot Localization

Visual landmarks are extensively used in contemporary robotics. There are a large number of different systems of visual landmarks. In particular, fingerprints give us unique identifiers for visually distinct locations by recovering statistically significant features. Therefore, fingerprints can be used as visual landmarks for mobile robot navigation. To create fingerprints we need one-dimensional color panoramas of high quality. In this paper, we consider a method for building the panoramic image using string matching algorithms. In particular, we propose the shortest common ordered supersequence problem.

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