A particular implementation selects two or more fiducial markers to be embedded into a video to convey information. Specifically, the translation, scaling and rotation between a reference marker and a secondary marker can be used to transmit information. When more information needs to be embedded, more secondary markers can be used. The transformation between the fiducial markers can also evolve over time as the information to be embedded evolves over time. At the receiving side, a reader device captures a video including multiple fiducial markers and determines the translation, scaling and rotation between the fiducial markers. Based on the transformation of the fiducial markers, the reader device can retrieve the information embedded in the captured video by the fiducial markers.