@article {Sjoo2012a, title = {Semantic map segmentation using function-based energy maximization}, url = {http://www.csc.kth.se/~krsj/Sjoo12SemanticMapSegmentation.pdf}, abstract = {This work describes the automatic segmentation of 2-dimensional indoor maps into semantic units along lines of spatial function, such as connectivity or objects used for certain tasks. Using a conceptually simple and readily extensible energy maximization framework, segmentations similar to what a human might produce are demonstrated on several real-world datasets. In addition, it is shown how the system can perform reference resolution by adding corresponding potentials to the energy function, yielding a segmentation that responds to the context of the spatial reference.}, author = {Kristoffer Sj\"{o}\"{o}}, year = {2012}, journal = {IEEE International Conference on Robotics and Automation (ICRA)} }