image detection apriltags maltab impementation ?

april-tags (<http://wiki.tekkotsu.org/index.php/AprilTest_demo>) are used for localization of autonomous robots. Has there been any matlab implementation of april-tag detection ? the goal is to detect the tags using camera in real-time. see http://www.youtube.com/watch?v=Y8WEGGbLWlA for a cool video, these are done in Java.