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Visual marker systems have become an ubiquitous tool to supply a reference frame onto otherwise uncontrolled scenes. Throughout the last decades, a wide range of different approaches have emerged, each with different strengths and limitations. Some tags are optimized to reach a high accuracy in the recovered camera pose, others are based on designs that aim to maximizing the detection speed or minimizing the effect of occlusion on the detection process. Most of them, however, employ a two-stepdoi:10.1007/s00138-012-0469-6 fatcat:yypyfdhzh5bx7np26p7duwrcre