@INPROCEEDINGS{cheng2017a, 
  author={Jiyu Cheng and Yuxiang Sun and Max Q.-H. Meng}, 
  booktitle={2017 18th International Conference on Advanced Robotics (ICAR)}, 
  title={A dense semantic mapping system based on CRF-RNN network}, 
  year={2017},
  volume={},
  number={},
  pages={589-594},
  doi={10.1109/ICAR.2017.8023671}}