R. Freeman, "Mixed Reality Toolkit", MSc VIVE Final Year Project Report, Department of Computer Science, University College London, September 2004.

R. Freeman, A. Steed, B. Zhou, "Rapid Scene Modelling, Registration and Specification for Mixed Reality Systems", Proceedings of ACM Virtual Reality Software and Technology, pp. 147-150, Monterey, California, November 2005. [video]

R. Freeman, A. Steed, "Interactive Modelling and Tracking for Mixed and Augmented Reality", Proceedings of ACM Virtual Reality Software and Technology, pp. 61-64, Limassol, Cyprus, November 2006. [video]

R. Freeman, A. Steed, "Interactive Modelling for Augmented Reality", Poster at the International Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '07), San Diego, California, October 2007.

R. Freeman, S. Julier, A. Steed, "A Method for Predicting Marker Tracking Error", Proceedings of the International Symposium on Mixed and Augmented Reality, Nara, Japan, November 2007. [video]

R. Freeman, S. Julier, A. Steed, "Predicting Marker Tracking Error", Presentation at the Winter Augmented Reality Meeting (WARM '08), Graz, Austria, February 2008.