Jerome Douret Ryad Benosman Salah Bouzar Jean Devars Localization of Robots in F180 League Using Projective Geometry. 312-318 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2752&spage=312 2002 conf/robocup/2002 RoboCup db/conf/robocup/robocup2002.html#DouretBBD02