Takayuki Nakamura Kazunori Terada Hideaki Takeda Atsushi Shibata The RoboCup-NAIST: A Cheap Multisensor-Based Mobile Robot with Visual Learning Capability. 326-337 http://dx.doi.org/10.1007/3-540-48422-1_26 1998 conf/robocup/1998 RoboCup db/conf/robocup/robocup1998.html#NakamuraTTS98