@inbook {FSBB09_STAR,
	title = {Visual appearance mapping for optimal vision based servoing},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	volume = {54 - Experimental Robotics},
	year = {2009},
	month = {March 28},
	pages = {353 - 362},
	publisher = {Springer},
	organization = {Springer},
	keywords = {Robotics},
	author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi},
	editor = {B. Siciliano and O. Khatib and Groen, F.}
}
