Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing. Krupa, A., Fichtinger, G., & Hager, G. D In Advanced Sensing and Sensor Integration in Medical Robotics, Workshop at the IEEE Int. Conf. on Robotics and Automation, 2009.
bibtex   
@inproceedings{krupa2009rigid,
  title={Rigid motion compensation with a robotized 2D ultrasound probe using speckle information and visual servoing},
  author={Krupa, Alexandre and Fichtinger, Gabor and Hager, Gregory D},
  booktitle={Advanced Sensing and Sensor Integration in Medical Robotics, Workshop at the IEEE Int. Conf. on Robotics and Automation},
  year={2009}
}

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