Algorithms for augmented reality?

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The theme of course are not simple, but you might be faced with the development of augmented reality apps. What algorithms are used? I am interested in the display of objects using markers?
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I recommend reading the materials here are these guys: www.hitl.washington.edu/artoolkit/
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Here is a simple example of augmented reality using OpenCV
\rdsynflo.blogspot.com/2010/06/simplar-augmented-reality-for-opencv.html
I think will help
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Thanks, but I would not like to use ready-made library.
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