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