Occupancy grid map of semi-static objects by mobile observer

In this research we propose a method for spatial representation of semi-static objects in dynamic environment. For this objective, we extend IMAC (Independent Markov Chain Occupancy) model, which is a map constructing method for dynamic environment. In the IMAC model, a mobile observer cannot estimate the grid map correctly if it does not stop enough time at the same location. To overcome this limitation, we propose a technique to estimate the IMAC grid map from an analytical discussion by simulating a grid-world model for a simple straight line path. The simulation result shows that if the number of observations for a given grid cell is sufficient, both parameters of the two transition probability parameters of IMAC model can be estimated correctly. We carried out a simple test in real-world environment using a vehicle. The experimental results show that we can create a map from GPS data recorded by a smartphone installed on a vehicle. The contributions of this paper are as follows: (1) propose a new technique for estimating Poisson parameters for IMAC grid map in dynamic environment; (2) prove the model can be used in real world.