An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer. - Niklas Fiedler; Hendrik Brandt; Jan Gutsche; Florian Vahl; Jonas Hagge; Marc Bestmann (RoboCup, 2019)

TORSO-21 Dataset: Typical Objects in RoboCup Soccer 2021. - Marc Bestmann; Timon Engelke; Niklas Fiedler; Jasper Güldenstein; Jan Gutsche; Jonas Hagge; Florian Vahl (RoboCup, 2021)