Visual Landmark Selection for Mobile Robot Navigation

Abstract

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 ρminimum 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.