?url_ver=Z39.88-2004&rft_id=10.1109%2FROBOT.2009.5152359&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Omar&rft.aulast=Tahri&rft.au=Tahri%2C+Omar&rft.isbn=978-1-4244-2788-8&rft.title=Generic+decoupled+image-based+visual+servoing+for+cameras+obeying+the+unified+projection+model&rft.date=2009&rft.genre=bookitem