@misc{indiciae681805a11b44,
  title = {Qualitative map learning based on covisibility of objects.},
  author = {Takehisa Yairi and Koichi Hori and Kosuke Hirama},
  year = {2005},
  doi = {10.1109/tsmcb.2005.846002},
  url = {https://pubmed.ncbi.nlm.nih.gov/16128460/},
  note = {Source identifier: 16128460}
}