The confluence of vision and control. Kriegman, D. J, Hager, G. D, & Morse, A S. 1998.
bibtex   
@misc{kriegman1998confluence,
  title={The confluence of vision and control},
  author={Kriegman, David J and Hager, Gregory D and Morse, A Stephen},
  year={1998},
  publisher={Springer}
}

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