@InProceedings{SelfLocalization-RoboCup-2005,
  author = {Thomas R{\"o}fer and Tim Laue and Dirk Thomas},
  title = {Particle-filter-based Self-Localization using Landmarks and Directed Lines},
  year = {2006},
  Editor = {Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and Yasutake Takahashi},
  booktitle = {RoboCup 2005: Robot Soccer World Cup IX},
  publisher = {Springer},
  series = {Lecture Notes in Artificial Intelligence},
  pages = {608-615},
  volume = {4020},
}