In the other match, Ivan Perisic's stoppage-time equalizer gave Bruges a deserved 2-2 draw at Toulouse.
In other action, Borja Valero scored an injury-time equalizer for nine-man Real Mallorca against Atletico Madrid, who are without a coach after the midweek sacking of Abel Resino.
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Barcelona and Chelsea met for the first time in 2000, but have since faced each other a dozen times in a series of increasingly acrimonious battles, highlighted by their notorious showdown at Stamford Bridge in 2009, when Barcelona advanced on Andres Iniesta's stoppage time equalizer, which came after Chelsea had been denied three apparent penalty kicks.
Barcelona's Seydou Keita with a double, a brilliant Frederic Kanoute header and finally, deep into injury time, the equalizer from substitute Mustapha Yatabare completed the great escape.
Amauri was sent off following a goalmouth melee as the game went deep into injury-time with Juve searching in vain for an equalizer.
Liverpool's Luis Suarez damaged Chelsea's hopes of a top-four finish Sunday afternoon with an equalizer in the seventh minute of stoppage time to secure a 2-2 draw.
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Roman Pavlyuchenko put Guus Hiddink's men ahead in the the 56th minute and they looked to be going through in normal time until Ruud van Nistelrooy stole an 86th minute equalizer for the Dutch.
Napoli needed a last-gasp equalizer from Mariano Bogliacino which came five minutes into time added on to deny Cagliari in Sardinia.
Burkina Faso midfielder Wilfried Benjamin Balima headed the opener four minutes before halftime, while Franca Jymmy sealed victory deep into injury-time as Steve McClaren's side pressed in vain for an equalizer.
The just-unveiled Media Player 7 handles most audio and video formats, is an MP3 jukebox for recording, organizing and playing music, and has enough advanced features to take on the competition - including a 10-band equalizer, a psychedelic light-show that pulses in time to the music, and appearance-changing "skins" that turn the gray box into things like the big green head pictured.
Trailing 1-0 from the first leg in the Romanian capital, Rafa Benitez's side leveled matters as Juan Mata squeezed the ball home after 33 minutes -- but Vlad Chiriches' equalizer (and away goal) on the stroke of half time gave the game a very different complexion.
It was he who scored a precious equalizer with 13 minutes remaining to take the tie into extra-time and eventually came penalties.
The imperious Sinclair headed Canada ahead for the third time just three minutes later, but the U.S. found an equalizer in controversial fashion.
Germany responded with a spell of pressure but they were unable to find an equalizer, and Brazil will now face Costa Rica, who also went to extra-time before defeating the United Arab Emirates 2-1.
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