@article {Chang:1 November 2000:0169-1864:205,
	author = "Chang, Peng",
	author = "Hebert, Martial",
	title = "First results in omni-directional visual servoing",
	journal = "Advanced Robotics",
	volume = "14",
	year = "1 November 2000",
	abstract = "In this paper, we describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360° of field of view and an efficient tracking technique is developed to track the target. The use of the omni-directional geometry eliminates many of the problems common in visual tracking and makes the use of visual servoing a practical alternative for robot-human interaction. The experiments demonstrate that it is an effective and robust way to guide a robot. In particular, the experiments show robustness of the tracker to loss of template, vehicle motion, and change in scale and orientation.",
	pages = "205-220(16)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2000/00000014/00000003/art00004"
	doi = "doi:10.1163/156855300741537"
}