Vision-Based Localization Algorithm Based on Landmark Matching, Triangulation, Reconstruction, and Comparison

Many generic position-estimation algorithms are vulnerable to ambiguity introduced by nonunique landmarks. Also, the available high-dimensional image data is not fully used when these techniques are extended to vision-based localization. This paper presents the landmark matching, triangulation, reconstruction, and comparison (LTRC) global localization algorithm, which is reasonably immune to ambiguous landmark matches. It extracts natural landmarks for the (rough) matching stage before generating the list of possible position estimates through triangulation. Reconstruction and comparison then rank the possible estimates. The LTRC algorithm has been implemented using an interpreted language, onto a robot equipped with a panoramic vision system. Empirical data shows remarkable improvement in accuracy when compared with the established random sample consensus method. LTRC is also robust against inaccurate map data

Galois lattice theory for probabilistic visual landmarks

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

Landmark detection in 2D bioimages for geometric morphometrics: a multi-resolution tree-based approach

The detection of anatomical landmarks in bioimages is a necessary but tedious step for geometric morphometrics studies in many research domains. We propose variants of a multi-resolution tree-based approach to speed-up the detection of landmarks in bioimages. We extensively evaluate our method variants on three different datasets (cephalometric, zebrafish, and drosophila images). We identify the key method parameters (notably the multi-resolution) and report results with respect to human ground truths and existing methods. Our method achieves recognition performances competitive with current existing approaches while being generic and fast. The algorithms are integrated in the open-source Cytomine software and we provide parameter configuration guidelines so that they can be easily exploited by end-users. Finally, datasets are readily available through a Cytomine server to foster future research

Pruning based Distance Sketches with Provable Guarantees on Random Graphs

Measuring the distances between vertices on graphs is one of the most fundamental components in network analysis. Since finding shortest paths requires traversing the graph, it is challenging to obtain distance information on large graphs very quickly. In this work, we present a preprocessing algorithm that is able to create landmark based distance sketches efficiently, with strong theoretical guarantees. When evaluated on a diverse set of social and information networks, our algorithm significantly improves over existing approaches by reducing the number of landmarks stored, preprocessing time, or stretch of the estimated distances. On Erd\"{o}s-R\'{e}nyi graphs and random power law graphs with degree distribution exponent $2 < \beta < 3$, our algorithm outputs an exact distance data structure with space between $\Theta(n^{5/4})$ and $\Theta(n^{3/2})$ depending on the value of $\beta$, where $n$ is the number of vertices. We complement the algorithm with tight lower bounds for Erdos-Renyi graphs and the case when $\beta$ is close to two.Comment: Full version for the conference paper to appear in The Web Conference'1