@article{mappingandlocalizationfromplanarmarkers,
  title = {Mapping and Localization from Planar Markers},
  author = {Rafael Muñoz-Salinas and Manuel J. Marín-Jimenez and Enrique Yeguas-Bolivar and Rafael Medina-Carnicer},
  year = {2016},
  eprint = {1606.00151},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1606.00151v2},
}