Natural Feature Tracking using the ARToolkit

Kato has implemented a new ARToolkit version based on Natural Feature Tracking on planar 2D scenes. Therefore we got a lot of documentation of the current ARToolkit (not supporting NFT) version provided by Kato (at least the best interface-documentation I have seen so far). But of course there is no documentation of the NFT-version. So it will be a first step to understand the basic concepts of the ARToolkit (computer vision and mathmatical methods).