André Redert Emile A. Hendriks Jan Biemond Accurate and robust marker localization algorithm for camera calibration. 522-525 2002 conf/3dpvt/2002 3DPVT http://csdl.computer.org/comp/proceedings/3dpvt/2002/1521/00/15210522abs.htm db/conf/3dpvt/3dpvt2002.html#RedertHB02