@article{fmr7c3,
 author = {Persson, Martin and Duckett, Tom and Lilienthal, Achim},
 doi = {10.1016/j.robot.2006.12.002},
 issn = {0921-8890},
 journal = {Robotics and Autonomous Systems},
 link = {https://doi.org/10.1016/j.robot.2006.12.002},
 month = {May},
 number = {5},
 pages = {383–390},
 publisher = {Elsevier BV},
 title = {Virtual sensors for human concepts—Building detection by an outdoor mobile robot},
 url = {http://dx.doi.org/10.1016/j.robot.2006.12.002},
 volume = {55},
 year = {2007}
}

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