[1] RIJLAARSDAM D D WZWICK MKUIPER J M.A novel encoding element for robust pose estimation using planar fiducials［J］.Frontiers in Robotics and AI20229:838128.

[2] SHABALINA KSAGITOV ASABIROVA Let al.ARTagAprilTag and CALTag fiducial systems comparison in a presence of partial rotation:manual and automated approaches［C］//Informatics in ControlAutomation and Robotics:14th International ConferenceICINCO 2017.Madrid:Springer International Publishing2019:536558.

[6] MATEOS L A.AprilTags 3D:dynamic fiducial markers for robust pose estimation in highly reflective environments and indirect communication in swarm robotics［R］.Los Alamos:arXiv Preprint2020:arXiv:2001.08622.