The resemblance between two consecutive frescoes is calculated by taking into account the difference between the number of certain landmarks in the corresponding quadrants.
That means that the frescoes give to the robot a sufficient representation of the environment to allow it to find its way back.
The first criterion that is primarily being investigated uses a correlation between two frescoes.
Their propaganda efforts covered many fields, including travel, patronage of frescoes and illuminated legendaries, and sermons.
The frescoes which are validated by means of neighbourhood rules.
These 5 frescoes are sufficient even if the fresco corresponding to the position at the centre of the crossing is missing.
The consistency of the frescoes ensures they could be used for robot navigation or localisation.
A correlation function allows to calculate the resemblance between two frescoes.
