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How to mount removable media in /media/<LABEL> automatically when inserted, without any desktop environment?

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http://unix.stackexchange.com – I have a Debian sid system (Wheezy), without any desktop environment (and no Xorg at all). I can mount my SD-cards, USB sticks, external HDD by label into a specified directory in /media/ manually with mount / umount and the suitable entries in /etc/fstab, but this is compelling, and to restrictive: if I want them to be mounted in /media/<LABEL>, each device with a different <LABEL> needs its own entry, and each <LABEL> subdirectory needs to be created / removed manually in /media/ as well). So, what is the best way to mount them automatically in /media/<LABEL> at ins (HowTos)