@article{learninggraphstructuredsumproduct,
  title = {Learning Graph-Structured Sum-Product Networks for Probabilistic Semantic Maps},
  author = {Kaiyu Zheng and Andrzej Pronobis and Rajesh P. N. Rao},
  year = {2017},
  eprint = {1709.08274},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1709.08274v2},
}