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http://hdl.handle.net/10397/6455
Title: | A new solution to map dynamic indoor environments | Authors: | Huang, GQ Rad, AB Wong, YK |
Issue Date: | 2006 | Source: | International journal of advanced robotic systems, 2006, v. 3, no. 2, p. 199-210 | 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. | Keywords: | Mapping Tracking Mobile robots |
Publisher: | InTech | Journal: | International journal of advanced robotic systems | 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 (http://creativecommons.org/licenses/by/3.0/) |
Appears in Collections: | Journal/Magazine Article |
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Huang_Map_Dynamic_Indoor.pdf | 819.32 kB | Adobe PDF | View/Open |
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