Topological Visual Localization Using Decentralized Galois Lattices

Abstract. This paper presents a new decentralized method for selecting visual landmarks in a structured environment. Different images, issued from the different places, are analyzed, and primitives are extracted to determine whether or not features are present in the images. Subsequently, landmarks are selected as a combination of these features with a mathematical formalism called Galois -or concept- lattices. The main drawback of the general approach is the exponential complexity of lattice building algorithms. A decentralized approach is therefore defined and detailed here: it leads to smaller lattices, and thus to better performance as well as an improved legibility.

• Type: Conference
• Year: 2004
• Where: ECAI
• Authors: Emmanuel Zenou, Malik Ghallab, Manuel Samuelides
• Keywords: Artificial Intelligence, ECAI 2004, Formalism Called Galois, Lattice Building Algorithms, Visual Landmarks