Daniele Fontanelli Antonio Danesi Felipe A. W. Belo Paolo Salaris Antonio Bicchi Visual Servoing in the Large. 802-814 2009 28 I. J. Robotic Res. 6 http://dx.doi.org/10.1177/0278364908097660 db/journals/ijrr/ijrr28.html#FontanelliDBSB09