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Extending metric space representations of an environment with other high level information, such as semantic and topological representations enable a robotic device to efficiently operate in complex environments. This paper proposes a methodology for a robot to classify indoor environments into semantic categories. Classification task, using data collected from a laser range finder, is achieved by a machine learning approach based on the logistic regression algorithm. The classification is followed by a probabilistic temporal update of the semantic labels of places. The innovation here is that the new algorithm is able to classify parts of a single laser scan into different semantic labels rather than the conventional approach of gross categorization of locations based on the whole laser scan. We demonstrate the effectiveness of the algorithm using a data set available in the public domain.