@article{topotagarobustandscalabletopological,
  title = {TopoTag: A Robust and Scalable Topological Fiducial Marker System},
  author = {Guoxing Yu and Yongtao Hu and Jingwen Dai},
  year = {2019},
  eprint = {1908.01450},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1908.01450v3},
}