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@Incollection(LNAI2004-vision,
        author="Mohan Sridharan and Peter Stone",
        title="Towards Illumination Invariance in the Legged League",
        booktitle= "{R}obo{C}up-2004: Robot Soccer World Cup {VIII}",
        Editor="Daniele Nardi and Martin Riedmiller and Claude Sammut",
        Publisher="Springer Verlag",address="Berlin",year="2005",
        series="Lecture Notes in Artificial Intelligence",      
	volume="3276",
        pages="196--208",
        abstract={
                  To date, RoboCup games have all been played under
                  constant, bright lighting conditions. However, in
                  order to meet the overall goal of RoboCup, robots
                  will need to be able to seamlessly handle changing,
                  natural light. One method for doing so is to be able
                  to identify colors regardless of illumination:
                  \emph{color constancy}.  Color constancy is a
                  relatively recent, but increasingly important, topic
                  in vision research.  Most approaches so far have
                  focussed on stationary cameras. In this paper we
                  propose a methodology for color constancy on mobile
                  robots. We describe a technique that we have used to
                  solve a subset of the problem, in real-time, based
                  on color space distributions and the KL-divergence
                  measure. We fully implement our technique and
                  present detailed empirical results in a robot soccer
                  scenario.
                 },
        wwwnote={Some <a href="http://www.cs.utexas.edu/users/AustinVilla/legged/illumination/">videos of robots</a> referenced in the paper.<br>
  Official version from <a href="http://www.springerlink.com/index/KNVVV0G6LLFV6QJ4">Publisher's Webpage</a>&copy Springer-Verlag},
)