Galois Lattice Theory for Probabilistic Visual Landmarks
Emmanuel Zenou (SUPAERO & LAASCNR, France)
Manuel Samuelides (SUPAERO & LAASCNR, France)
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.
Keywords: Galois lattices, autonomous mobile robotics, computer vision, concept lattices, formal concept analysis., localization, orientation, visual landmarks
Categories: H.3.7, H.5.4