@article{improvedandscalableonlinelearningof,
  title = {Improved and Scalable Online Learning of Spatial Concepts and Language Models with Mapping},
  author = {Akira Taniguchi and Yoshinobu Hagiwara and Tadahiro Taniguchi and Tetsunari Inamura},
  year = {2018},
  eprint = {1803.03481},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1803.03481v3},
}