@inproceedings{mielle2018maoris,
      title={A Method to Segment Maps from Different Modalities Using Free Space Layout MAORIS: Map of Ripples Segmentation},
      author={Malcolm Mielle and Martin Magnusson and Achim J. Lilienthal},
      booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
      year={2018},
      doi={10.1109/ICRA.2018.8461128}
}