@inproceedings {joho12rss,
	author = {Joho, Dominik and Tipaldi, Gian Diego and Engelhard, Nikolas and Stachniss, Cyrill and Burgard, Wolfram},
	title = {{Nonparametric Bayesian Models for Unsupervised Scene Analysis and Reconstruction}},
	booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
	year = {2012},
	url = {http://www.informatik.uni-freiburg.de/~tipaldi/papers/joho12rss.pdf}
}