Room classification using a hierarchical representation of space. - Peter Ursic; Matej Kristan; Danijel Skocaj; Ales Leonardis (IROS, 2012)

Hierarchical spatial model for 2D range data based room categorization. - Peter Ursic; Ales Leonardis; Danijel Skocaj; Matej Kristan (ICRA, 2016)

Part-based room categorization for household service robots. - Peter Ursic; Rok Mandeljc; Ales Leonardis; Matej Kristan (ICRA, 2016)

Learning part-based spatial models for laser-vision-based room categorization. - Peter Ursic; Ales Leonardis; Danijel Skocaj; Matej Kristan (Int. J. Robotics Res., 2017)