Image moments: a general and useful set of features for visual servoing

By François Chaumette. IEEE Transactions on robotics, 2004

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ViSP for visual servoing: a generic software platform with a wide class of robot control skills (2005, methodology): “setWorldCoordinates(2*L,3*L,0); point[5].”
Point-based and region-based image moments for visual servoing of planar objects (2005, methodology): “Finally, experimental results are presented to illustrate the validity of our approach and its robustness with respect to modeling errors.”
Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments (2008, methodology): “As mentioned in the introduction, many works (for example, those of Chaumette (2004) and Tahri and Chaumette (2005)) have shown that this choice allows for the fulfillment of the servoing task when the relative camera/target pose is inside the region of stability of the control scheme (as it was in…”
Homography-based 2D Visual Tracking and Servoing (2007, methodology): “these visual servoing methods do not need the explicit estimation of the pose error in the Cartesian space (see, for example, Espiau et al. 1992� Chaumette 2004 ).”
Photometric visual servoing for omnidirectional cameras (2013, background): “These features and their different representations can bring interesting properties for the servoing process, such as, when well chosen, a nice decoupling between the camera degrees of freedom (dof) (Chaumette 2004).”