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    Henderson, Naomi and King, Robert and Middleton, Richard H. (2008) An Application of Gaussian mixtures: colour segmenting for the four legged league using HSI colour space. In: RoboCup 2007: Robot Soccer World Cup XI. Lecture Notes in Computer Science, 5001 . Springer Berlin / Heidelberg, pp. 254-261. ISBN 1611-3349

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