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Online generation of scene descriptions in urban environments., , and . Robotics Auton. Syst., 56 (11): 901-914 (2008)Acquiring Models of Rectangular 3D Objects for Robot Maps., and . ICRA, page 3759-3764. IEEE, (2004)Navigating, Recognizing and Describing Urban Spaces With Vision and Lasers., , , , , , , , , and 3 other author(s). Int. J. Robotics Res., 28 (11-12): 1406-1433 (2009)Describing Composite Urban Workspaces., , and . ICRA, page 4962-4968. IEEE, (2007)Using Scene Similarity for Place Labelling., , and . ISER, volume 39 of Springer Tracts in Advanced Robotics, page 85-98. Springer, (2006)