@article{learninglargescaletopologicalmapsusing,
  title = {Learning Large-Scale Topological Maps Using Sum-Product Networks},
  author = {Kaiyu Zheng},
  year = {2017},
  eprint = {1706.03416},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1706.03416v2},
}