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An intelligent space is a space constructed with many networked sensors. Humans and robots in the space are extracted and tracked cooperatively by the networked sensors. The intelligent space can achieve position-based supports to humans and robots according to integration of networked sensors. Generally, the networked sensors are distributed and fixed on the structures in the space such as walls, ceilings and etc. In order to track moving objects such as humans and robots in the intelligent space, all networked sensors have to obtain objects positions in the unified world coordinate. In that case, positions and orientations of the networked sensors must be also known in the unified world coordinate system. However, it is time-consuming to measure positions of many sensors in the world coordinate INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS VOL. 8, NO. 1, MARCH 2015

An Assistance System For Building Intelligent Spaces Based On Mapsharing Among A Mobile Robot And Distributed Sensors