@inproceedings{ICML-2001-LiuECBT,
	author        = "Yufeng Liu and Rosemary Emery and Deepayan Chakrabarti and Wolfram Burgard and Sebastian Thrun",
	booktitle     = "{Proceedings of the 18th International Conference on Machine Learning}",
	isbn          = "1-55860-778-1",
	pages         = "329--336",
	publisher     = "{Morgan Kaufmann}",
	title         = "{Using EM to Learn 3D Models of Indoor Environments with Mobile Robots}",
	year          = 2001,
}