@inproceedings{schulz-robocup10, title = {Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization}, author = {Schulz, H. and Liu, W. and Stueckler, J. and Behnke, S.}, booktitle = {RobuCup}, volume = {6556}, pages = {397-408}, series = {Lecture Notes in Computer Science}, publisher = {Springer}, year = {2010}, doi = {}, url = {http://ais.uni-bonn.de/papers/RoboCup_Symposium_2010_Schulz.pdf} }