From the cellular space, landmarks are extracted and organised into series called frescoes.
As the robot moves along the trajectory, it is also interesting to analyse how the frescoes are modified and transformed.
Biofilms on hypogean frescoes are complex communities of microorganisms belonging to different taxa.
These frescoes, validated according to neighbourhood laws, are stored in the robot's memory and provide minimal information for environment shape understanding.
The most informative frescoes are detected by means of two criteria and stored.
Not only was the time it was taking for the frescoes to be completed criticized, but their quality was also brought into question.
In addition, there are viewing contexts where the adoption of the ideal vantage point is impossible, as, for example, with frescoes in churches.
A correlation function allows to calculate the resemblance between two frescoes.
