@article{optimizingfiducialmarkerplacementfor,
  title = {Optimizing Fiducial Marker Placement for Improved Visual Localization},
  author = {Qiangqiang Huang and Joseph DeGol and Victor Fragoso and Sudipta N. Sinha and John J. Leonard},
  year = {2022},
  eprint = {2211.01513},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2211.01513v2},
}