Andrew C. Rice Alastair R. Beresford Robert K. Harle Cantag: an open source software toolkit for designing and deploying marker-based vision systems. 12-21 2006 conf/percom/2006 PerCom http://doi.ieeecomputersociety.org/10.1109/PERCOM.2006.13 db/conf/percom/percom2006.html#RiceBH06