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Article: A new solution to map dynamic indoor environments

TitleA new solution to map dynamic indoor environments
Authors
KeywordsMapping
Mobile Robots
Tracking
Issue Date2006
Citation
International Journal Of Advanced Robotic Systems, 2006, v. 3 n. 3, p. 199-210 How to Cite?
AbstractIn 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.
Persistent Identifierhttp://hdl.handle.net/10722/155891
ISSN
2015 Impact Factor: 0.615
2015 SCImago Journal Rankings: 0.402
References

 

DC FieldValueLanguage
dc.contributor.authorHuang, GQen_US
dc.contributor.authorRad, ABen_US
dc.contributor.authorWong, YKen_US
dc.date.accessioned2012-08-08T08:38:14Z-
dc.date.available2012-08-08T08:38:14Z-
dc.date.issued2006en_US
dc.identifier.citationInternational Journal Of Advanced Robotic Systems, 2006, v. 3 n. 3, p. 199-210en_US
dc.identifier.issn1729-8806en_US
dc.identifier.urihttp://hdl.handle.net/10722/155891-
dc.description.abstractIn 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.en_US
dc.languageengen_US
dc.relation.ispartofInternational Journal of Advanced Robotic Systemsen_US
dc.subjectMappingen_US
dc.subjectMobile Robotsen_US
dc.subjectTrackingen_US
dc.titleA new solution to map dynamic indoor environmentsen_US
dc.typeArticleen_US
dc.identifier.emailHuang, GQ:gqhuang@hkucc.hku.hken_US
dc.identifier.authorityHuang, GQ=rp00118en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-33750176788en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-33750176788&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.issue3en_US
dc.identifier.spage199en_US
dc.identifier.epage210en_US
dc.identifier.scopusauthoridHuang, GQ=7403425048en_US
dc.identifier.scopusauthoridRad, AB=7005277683en_US
dc.identifier.scopusauthoridWong, YK=7403041696en_US

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