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  title = {Automatic generation and detection of highly reliable fiducial markers under occlusion},
  year = {2014},
  pages = {2280 - 2292},
  journal = {Pattern Recognition},
  volume = {47},
  number = {6},
  issn = {0031-3203},
  doi = {http://dx.doi.org/10.1016/j.patcog.2014.01.005},
  url = {http://www.sciencedirect.com/science/article/pii/S0031320314000235}
}

@inproceedings{wang2016iros,
  author = {John Wang and Edwin Olson},
  title = {{AprilTag} 2: Efficient and robust fiducial detection},
  booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems {(IROS)}},
  year = {2016},
  month = {October}
}