1. A computer implemented method for labeling places captured in a video stream, the method comprising: receiving a video stream comprising multiple digital representations of images; generating a measurement stream representing the video stream, wherein the measurement stream comprises one or more image histograms of the video stream; segmenting the measurement stream into a plurality of segments corresponding to types of places in the video stream based on the histograms of the videos stream, wherein the boundary between two adjacent segments represents a change-point of the measurement stream at a time-step; computing probability distributions of the segments over a plurality of place classifiers, wherein probability of a segment represents a likelihood that the segment is classified by a place classifier of the plurality of the place classifiers; and generating place labels for the types of places in video stream based on probabilities of change-points of the measurement stream, wherein the change-points are detected based on the probability distributions of the segments over the plurality of the place classifiers.