Topological Visual Localization Using Decentralized Galois Lattices
Emmanuel Zenou, Malik Ghallab, Manuel Samuelides · 2015
Abstract. This paper presents a new decentralized method for se-lecting visual landmarks in a structured environment. Different im-ages, 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 decen-tralized approach is therefore defined and detailed here: it leads to smaller lattices, and thus to better performance as well as an im-proved legibility. 1