@incollection{Whelan11robocup,
year={2012},
booktitle={RoboCup 2011: Robot Soccer World Cup XV},
volume={7416},
series={Lecture Notes in Computer Science},
title={Line Point Registration: A Technique for Enhancing Robot Localization in a Soccer Environment},
publisher={Springer Berlin Heidelberg},
author={T. Whelan and S. Stüdli and J.B. McDonald and R.H. Middleton},
pages={258-269}
}