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Volume 10 / Issue 8

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DOI:   10.3217/jucs-010-08-1014


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