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Efficient navigation of mobile platforms in dynamic, human centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling and path planning units. In this paper we present some implemented methods in the context of dynamic object detection and global and mobile sensor data fusion for 3D world modeling. Experimental results of the system in the laboratory environment are presented.