Michael Beetz Thorsten Schmitt Robert Hanek Bernd Radig AGILO: Vision-based Game State Estimation for Autonomous Robot Soccer. 30- 2003 17 KI 2 http://www.kuenstliche-intelligenz.de/Artikel/AGILOVision-basedGameStateEstimationforA.htm db/journals/ki/ki17.html#BeetzSHR03