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Nonparametric Bayesian models for unsupervised scene analysis and reconstruction
Dominik Joho, Gian Diego Tipaldi, Nikolas Engelhard, Cyrill Stachniss, and Wolfram Burgard
In Proceedings of Robotics: Science and Systems (RSS)

  author = {Dominik Joho and Gian Diego Tipaldi and Nikolas 
Engelhard and Cyrill Stachniss and Wolfram Burgard},
  title = {Nonparametric {B}ayesian Models for Unsupervised 
Scene Analysis and Reconstruction},
  booktitle = {Proceedings of Robotics: Science and Systems 
  year = {2012}