Shinya Hibino Yukiharu Kodama Yasunori Nagasaka Tomoichi Takahashi Kazuhito Murakami Tadashi Naruse Fast Image Processing and Flexible Path Generation System for RoboCup Small Size League. 53-64 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2752&spage=53 2002 conf/robocup/2002 RoboCup db/conf/robocup/robocup2002.html#HibinoKNTMN02