F. A. W.  Belo, Salaris, P., Fontanelli, D., and Bicchi, A., ?A Complete Observability Analysis  of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities?, International Journal of Advanced Robotic Systems, vol. 10, no. 197, 2013 [Online]. Available: http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing