Egocentric and Allocentric Shape Representation Based on Static and Dynamic Ordering Information

In this paper we show how the shape of a 2D-landmark configuration can be encoded based on qualitative 1D-ordering information and how relevant geometric shape properties of a landmark configuration (strictly based on ordering information) can be detected by a sequence of view-based snapshots. Furthermore we show how shape of landmark configurations supports view-based localization tasks specially in the face of erroneous and missing sensor information.