The menu item "Image from Gallery" is only visible if an image gallery is selected in the gallery settings. It is offered both through the context menu

as well as the Floating Toolbox

.

A window opens from which you can select the desired image. If multiple logo pools exist, the desired logo pool can be selected. The filter field below can be used to search for the desired image object.

With a simple click, the image can be inserted into a display frame, a text frame, or a graphic frame. The image handling is described in detail here.