Yasuhiro Masutani Yukihisa Tanaka Tomoya Shigeta Fumio Miyazaki Pseudo-local Vision System Using Ceiling Camera for Small Multi-robot Platforms. 510-517 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=510 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#MasutaniTSM03