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Title: A new solution to map dynamic indoor environments
Authors: Huang, GQ
Rad, AB
Wong, YK
Keywords: Mapping
Mobile robots
Issue Date: 2006
Publisher: InTech
Source: International journal of advanced robotic systems, 2006, v. 3, no. 2, p. 199-210 How to cite?
Journal: International journal of advanced robotic systems 
Abstract: In this paper, we propose a new algorithm of mapping dynamic indoor environments. Instead of accurate but expensive laser, we employ sonar and camera to map dynamic structured indoor environments. Based on fuzzy-tuned grid-based map (FTGBM), we use two methods: sonar temporal difference (STD) and statistical background subtraction (SBS), to detect and track moving objects when mapping dynamic environments. The former is a consistency-based method realized by monitoring a sequence of temporal lattice maps for a certain number of measurement periods to detect moving objects by using sonars; and the latter is a background subtraction technique which adopts an expectation maximization (EM) learned 3-class mixture of Gaussians to model the nonstationary background relied on sufficient update during mapping process. After finding the moving objects, we propose a fuzzy-tuned integration (FTI) method to incorporate the results of motion detection into the mapping process. The simulation and experiment demonstrate the capabilities of our approach.
ISSN: 1729-8806
EISSN: 1729-8814
DOI: 10.5772/5737
Rights: This work is licensed under the terms of the Creative Commons Attribution 3.0 Unported License (
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