Oliver Birbach Jörg Kurlbaum Tim Laue Udo Frese Tracking of Ball Trajectories with a Free Moving Camera-Inertial Sensor. 49-60 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_5 conf/robocup/2008 db/conf/robocup/robocup2008.html#BirbachKLF08