@article{cheng2020robust, 
title={Robust Semantic Mapping in Challenging Environments}, 
volume={38}, 
DOI={10.1017/S0263574719000584}, 
number={2}, 
journal={Robotica}, 
publisher={Cambridge University Press}, 
author={Jiyu Cheng and Yuxiang Sun and Max Q.-H. Meng}, 
year={2020}, 
pages={256–270}}