Yoshifumi Nishida Yoichi Motomura Goro Kawakami Naoaki Matsumoto Hiroshi Mizoguchi Spatio-temporal Semantic Map for Acquiring and Retargeting Knowledge on Everyday Life Behavior. 63-75 2007 JSAI http://dx.doi.org/10.1007/978-3-540-78197-4_8 conf/jsai/2007 db/conf/jsai/jsai2007.html#NishidaMKMM07