Daisuke Sekimori Tomoya Usui Yasuhiro Masutani Fumio Miyazaki Evaluation of Self-localization Performance for a Local Vision Robot in the Small Size League. 41-52 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2752&spage=41 2002 conf/robocup/2002 RoboCup db/conf/robocup/robocup2002.html#SekimoriUMM02