Galois Lattice Theory for Probabilistic Visual Landmarks

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dc.creatorZenou,Emmanuel
dc.creatorSamuelides,Manuel
dc.date2004
dc.date.accessioned2024-02-06T12:53:10Z
dc.date.available2024-02-06T12:53:10Z
dc.descriptionThis 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.
dc.formattext/html
dc.identifierhttps://doi.org/10.3217/jucs-010-08-1014
dc.identifierhttps://lib.jucs.org/article/28280/
dc.identifier.urihttps://openrepository.mephi.ru/handle/123456789/8605
dc.languageen
dc.publisherJournal of Universal Computer Science
dc.relationinfo:eu-repo/semantics/altIdentifier/eissn/0948-6968
dc.relationinfo:eu-repo/semantics/altIdentifier/pissn/0948-695X
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsJ.UCS License
dc.sourceJUCS - Journal of Universal Computer Science 10(8): 1014-1033
dc.subjectcomputer vision
dc.subjectvisual landmarks
dc.subjectlocalization
dc.subjectorientation
dc.subjectautonomous mobile robotics
dc.subjectGalois lattices
dc.subjectconcept lattices
dc.subjectformal concept analysis.
dc.titleGalois Lattice Theory for Probabilistic Visual Landmarks
dc.typeResearch Article
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