A New Solution to Map Dynamic Indoor Environments
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 st...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/a_new_solution_to_map_dynamic_indoor_environments |
| _version_ | 1819037023835521024 |
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| author | A.B. Rad G.Q. Huang Y.K. Wong |
| author_facet | A.B. Rad G.Q. Huang Y.K. Wong |
| author_sort | A.B. Rad |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-21T08:14:50Z |
| format | Article |
| id | doaj.art-8af14fe358eb453b9f9bf28bd5393679 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T08:14:50Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-8af14fe358eb453b9f9bf28bd53936792022-12-21T19:10:35ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0133A New Solution to Map Dynamic Indoor EnvironmentsA.B. RadG.Q. HuangY.K. WongIn 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.http://www.intechopen.com/articles/show/title/a_new_solution_to_map_dynamic_indoor_environmentsMappingtrackingmobile robots |
| spellingShingle | A.B. Rad G.Q. Huang Y.K. Wong A New Solution to Map Dynamic Indoor Environments International Journal of Advanced Robotic Systems Mapping tracking mobile robots |
| title | A New Solution to Map Dynamic Indoor Environments |
| title_full | A New Solution to Map Dynamic Indoor Environments |
| title_fullStr | A New Solution to Map Dynamic Indoor Environments |
| title_full_unstemmed | A New Solution to Map Dynamic Indoor Environments |
| title_short | A New Solution to Map Dynamic Indoor Environments |
| title_sort | new solution to map dynamic indoor environments |
| topic | Mapping tracking mobile robots |
| url | http://www.intechopen.com/articles/show/title/a_new_solution_to_map_dynamic_indoor_environments |
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