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 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.Department of Electrical EngineeringAuthor name used in this publication: G. Q. HuangAuthor name used in this publication: Y. K. Won