## Fill out commented sections below after paper is accepted.
## * Forum: FILL ME IN
 * [[http://cgi.cs.duke.edu/~mac/papers/iros12_sm.pdf|Paper (.pdf)]]
 * [[https://ieeexplore.ieee.org/document/6385729|IEEE Page]]

== Citation ==
{{{
@inproceedings {mason_iros12_sm,
        title = {An {O}bject-{B}ased {S}emantic {W}orld {M}odel for {L}ong-{T}erm {C}hange {D}etection and {S}emantic {Q}uerying},
        booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
        year = {2012},
        author = {Julian Mason and Bhaskara Marthi}
}
}}}
== Code and Data ==
Please see http://www.ros.org/wiki/worldmodel

The four bags quantified in the paper are 2011-08-04-12-16-23.bag, 2011-08-11-01-31-15.bag, 2011-08-16-20-59-00.bag, and 2011-08-25-09-31-05.bag.

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