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Try to investigate these two projects

1. https://github.com/BloodAxe/OpenCV-Hotshots-Marker-Based-AR
2. https://github.com/BloodAxe/OpenCV-Hotshots-Markless-AR

Here is some information about them: http://computer-vision-talks.com/2012/09/a-bunch-of-news-about-book-research-and-life/ .

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