An efficient omnidirectional vision system for soccer robots : From calibration to object detection
An Omnidirectional Vision System for Soccer Robots
A robust omnidirectional vision sensor for soccer robots
Real-time 3D Ball Recognition using Perspective and Catadioptric Cameras
3D to 2D bijection for spherical objects under equidistant fisheye projection
Sphere Detection in Kinect Point Clouds via the 3D Hough Transform