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rosbag files and network model available to download from (

booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2016)},
month = {May},
title = {Place categorization and semantic mapping on a mobile robot},
author = {Niko Sunderhauf and Feras Dayoub and Sean McMahon and Ben Talbot and Ruth Schulz and Peter Corke and Gordon Wyeth and Ben Upcroft and Michael Milford},
address = {Stockholm, Sweden},
publisher = {IEEE},
year = {2016}