Published in
Springer, Lecture Notes in Computer Science, p. 704-714, 2006
DOI: 10.1007/11925231_67
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A Fast Model-Based Vision System for a Robot Soccer Team.
Proceedings article published in 2006 by
Murilo Fernandes Martins,
Flavio Tonidandel,
Reinaldo A. C. Bianchi 
This paper is available in a repository.
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