@INPROCEEDINGS{wang16, 
author={Z. Wang and P. Jensfelt and J. Folkesson}, 
booktitle={2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)}, 
title={Building a human behavior map from local observations}, 
year={2016}, 
pages={64-70}, 
keywords={control engineering computing;hidden Markov models;human-robot interaction;pattern classification;service robots;K-means algorithm;behavior-based map;classification method;grid map;human behavior map;human movements;kitchen environment;learned transition probabilities;local observations;nonergodic HMM;probabilistic model;Hidden Markov models;Probabilistic logic;Semantics;Service robots;Tracking;Trajectory}, 
doi={10.1109/ROMAN.2016.7745092}, 
month={Aug}}