@article{Zivkovic:07toRooms,
  author = {Z. Zivkovic and O. Booij and B. Kröse},
  title = {From images to rooms},
  journal = {Transactions on Robotics},
  year = {2007},
  volume = {55},
  number = {5},
  year = {2007},
  month = {May},
  pages = {411-418},
  publisher = {IEEE}
}