@INPROCEEDINGS{endres09rss,
  author    = {Felix Endres and Christian Plagemann and Cyrill Stachniss and Wolfram Burgard},
  title     = {Unsupervised discovery of object classes from range data using latent {D}irichlet allocation},
  booktitle = {Robotics: Science and Systems},
  year      = {2009}
}