In recent years, robots working in human living space are increasing with development of robot technologies. Environmental information acquisition and human estimation are necessary to control the robots moving in this kind dynamic environment. In this study, we proposed a map generation method which can comprehend dynamic environment with SLAM technology. During the information acquisition of dynamic environment and the human estimation, dynamic information and static information are extracted from the map generated by SLAM. An environmental map in the human living space and a motion map of human being are generated. The motion map of human being could be used as information for both motion planning of robots and further estimation of human motion in dynamic environment.