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Galois lattice theory for probabilistic visual landmarks

Zenou, Emmanuel and Samuelides, Manuel Galois lattice theory for probabilistic visual landmarks. (2004) Journal of Universal Computer Sciences, vol. 1 (n° 8). pp. 1014-1033. ISSN 0948-6968

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Abstract

This paper presents an original application of the Galois lattice theory, the visual landmark selection for topological localization of an autonomous mobile robot, equipped with a color camera. First, visual landmarks have to be selected in order to characterize a structural environment. Second, such landmarks have to be detected and updated for localization. These landmarks are combinations of attributes, and the selection process is done through a Galois lattice. This paper exposes the landmark selection process and focuses on probabilistic landmarks, which give the robot thorough information on how to locate itself. As a result, landmarks are no longer binary, but probabilistic. The full process of using such landmarks is described in this paper and validated through a robotics experiment.

Item Type:Article
Audience (journal):International peer-reviewed journal
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Institution: Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
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Deposited By: Emmanuel Zenou

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