Distance between 2D-scenes based on oriented matroid theory

A novel method for representing and comparing views of objects is presented. The topological properties of the regions of the views of objects are used to define a structure, called set of cocircuits, based on the oriented matroid theory. It is a formalism for qualitative spatial representation and reasoning and encodes information about relative position of the disjoint regions of the view and give local and global topological information about their spatial distribution. This topological technique is applied to recognising indoor scenes for the localization of a mobile robot.