Sungon Lee Yoshihiko Nakamura Katsu Yamane T. Toujo S. Takahashi Y. Tanikawa H. Takahashi Image Stabilization for In Vivo Microscopy by High-Speed Visual Feedback Control. 45-54 2008 24 IEEE Transactions on Robotics 1 http://dx.doi.org/10.1109/TRO.2007.914847 db/journals/trob/trob24.html#LeeNYTTTT08