Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing. Krupa, A., Fichtinger, G., & Hager, G. D The International Journal of Robotics Research, 28(10):1334–1354, Sage Publications Sage UK: London, England, 2009.
bibtex   
@article{krupa2009real,
  title={Real-time motion stabilization with B-mode ultrasound using image speckle information and visual servoing},
  author={Krupa, Alexandre and Fichtinger, Gabor and Hager, Gregory D},
  journal={The International Journal of Robotics Research},
  volume={28},
  number={10},
  pages={1334--1354},
  year={2009},
  publisher={Sage Publications Sage UK: London, England}
}

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