Open Source Computer Vision Library https://opencv.org/
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@article{Aruco2014,
author = {S. Garrido-Jurado and R. Mu\~noz-Salinas and F.J. Madrid-Cuevas and M.J. Mar\'in-Jim\'enez}
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}
}