@article{Zivkovic:07Dataset,
  author = {Z. Zivkovic and O. Booij and B. Kröse and E.Topp and H.I.Christensen},
  title = {From sensors to human spatial concepts: an annotated dataset},
  journal = {Transactions on Robotics},
  volume = {24},
  number = {2},
  year = {2008},
  month = {April},
  pages = {501-505},
  publisher = {IEEE}
}