Yusuke Oka and Masami Iwatsuki. Visual Servoing Based on Spherical Coordinate System for Keeping Features within the Field of View. Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics. 2005. 713-718
Hidetoshi Yamada, Takayuki Arasawa and Masami Iwatsuki. Central Catadioptric Visual Servoing Based on Polar Coordinates. Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics. 2005. 719-724