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The Occupancy Grid method forms the basis for a probabilistic estimation of the location and velocity of objects in the scene from the sensor data. The Hough Transform enables the new method to handle non-integer velocity values. A model for simulating a sonar ring is also presented. Experimental results show that this method can handle objects moving at non-integer velocities.<\/jats:p>","DOI":"10.1017\/s0263574700020038","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:09:54Z","timestamp":1236690594000},"page":"553-560","source":"Crossref","is-referenced-by-count":0,"title":["Dynamic world modeling for a mobile robot among moving objects"],"prefix":"10.1017","volume":"14","author":[{"given":"Yuefeng","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert E.","family":"Webber","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"1. Elfes A. , \u201cOccupancy Grids: A Probabilistic Framework for Mobile Robot Perception and Navigation\u201d Ph.D thesis (Electrical and Computer Engineering Dept.\/Robotics Inst., Carnegie Mellon Univ., 1989).","key":"S0263574700020038_ref001","DOI":"10.1109\/2.30720"},{"key":"S0263574700020038_ref006","first-page":"554\u2013562","article-title":"Determining the movement of objects from a sequence of images","author":"Roach","year":"1980","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"unstructured":"4. Webber R.E. and Zhang Y. , \u201cExtended occupancy grid methods for mobile robots perception in unknown dynamic environments\u201d Proceedings of the Third Conference on Military Robotic Applications, Medicine Hat, Alberta, Canada (1991) pp. 54\u201360.","key":"S0263574700020038_ref004"},{"unstructured":"10. Liscano R. , Green D. , Manz A. , Korba L. and Lang S. , \u201cThe NRC mobile robot project\u201d Proceedings of the Third Conference on Military Robotic Applications Medicine Hat, Alberta, Canada 1991 pp. 47\u201353.","key":"S0263574700020038_ref010"},{"doi-asserted-by":"publisher","key":"S0263574700020038_ref008","DOI":"10.1016\/0031-3203(95)00083-6"},{"unstructured":"5. Zhang Y. and Webber R. , \u201cOn Combining the Hough Transform and Occupancy Grid Methods for detection of moving objects\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, Raleigh, North Carolina (July, 1992) pp. 2155\u20132160.","key":"S0263574700020038_ref005"},{"doi-asserted-by":"crossref","unstructured":"2. Moravec H.P. and Elfes A. , \u201cHigh resolution maps from wide angle sonar\u201d IEEE Int'l Conf. on Robotics and Automation, CS Press. Los Alamitos, Calif. (March, 1985) pp. 116\u2013121.","key":"S0263574700020038_ref002","DOI":"10.1109\/ROBOT.1985.1087316"},{"key":"S0263574700020038_ref009","first-page":"770\u2013775","article-title":"Moving object recognition using motion enhanced Hough transform","volume":"84","author":"Samy","year":"1984","journal-title":"Digital Signal Processing"},{"unstructured":"7. Zhang Y. , \u201cMobile robot perception in unknown and unstructured dynamic voxcel environments\u201d Ph.D Thesis (Department of Computer Science, The University of Western Ontario, Canada, 1993).","key":"S0263574700020038_ref007"},{"doi-asserted-by":"publisher","key":"S0263574700020038_ref003","DOI":"10.1017\/S0263574700007748"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700020038","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:53:47Z","timestamp":1738990427000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700020038\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,9]]},"references-count":10,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1996,9]]}},"alternative-id":["S0263574700020038"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700020038","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1996,9]]}}}