An efficient visual fiducial localisation system. Lightbody, P., Krajník, T., & Hanheide, M. ACM SIGAPP Applied Computing Review, 17(3):28–37, Association for Computing Machinery (ACM), November, 2017.
An efficient visual fiducial localisation system [link]Paper  doi  bibtex   
@article{ghrgfb,
 author = {Lightbody, Peter and Krajník, Tomáš and Hanheide, Marc},
 doi = {10.1145/3161534.3161537},
 issn = {1931-0161},
 journal = {ACM SIGAPP Applied Computing Review},
 link = {https://doi.org/10.1145/3161534.3161537},
 month = {November},
 number = {3},
 pages = {28–37},
 publisher = {Association for Computing Machinery (ACM)},
 title = {An efficient visual fiducial localisation system},
 url = {http://dx.doi.org/10.1145/3161534.3161537},
 volume = {17},
 year = {2017}
}

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