@article{scimsimultaneousclusteringinferenceand,
  title = {SCIM: Simultaneous Clustering, Inference, and Mapping for Open-World Semantic Scene Understanding},
  author = {Hermann Blum and Marcus G. Müller and Abel Gawel and Roland Siegwart and Cesar Cadena},
  year = {2022},
  eprint = {2206.10670},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2206.10670v2},
}