Costanza, E.Robinson, J.Peter Hall and Philip Willis2016-02-092016-02-0920033-905673-54-1https://doi.org/10.2312/vvg.20031009We report a topological approach to fiducial recognition for real-time applications. Independence from geometry makes the system tolerant to severe distortion, and allows encoding of extra information. The method is based on region adjacency trees. After describing the mathematical foundations, we present a set of simulations to evaluate the algorithm and optimise the fiducial design.10.2312/vvg.20031009