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B-human 2016 

, In: RoboCup 2016: Robot World Cup XX / edited by Sven Behnke, Raymond Sheh, Sanem Sarıel, Daniel D. Lee
robust approaches for perception and state estimation under... 
Röfer, Thomas ; Richter-Klug, Jesse ; Laue, Tim. (2017)  - p. 503-514
Link: https://doi.org/10.1007/978-3-319-68792-6_42