Ryad Benosman Jerome Douret Jean Devars A Simple and Accurate Camera Calibration for the F180 RoboCup League. 275-280 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770275.htm db/conf/robocup/robocup2001.html#BenosmanDD01