@inproceedings{ijcai2007p340,
  title     = {Voronoi Random Fields: Extracting Topological Structure of Indoor Environments via Place Labeling},
  author    = {Friedman, Stephen and Pasula, Hanna and Fox, Dieter},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {2109--2113},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/340},
}