Robert Hanek Thorsten Schmitt Sebastian Buck Michael Beetz Towards RoboCup without Color Labeling. 179-194 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2752&spage=179 2002 conf/robocup/2002 RoboCup db/conf/robocup/robocup2002.html#HanekSBB02