E. Altug, J. P. Ostrowski, and R. Mahony, Control of a quadrotor helicopter using visual feedback, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.72-77, 2002.
DOI : 10.1109/ROBOT.2002.1013341

E. Altug, J. P. Ostrowski, and C. J. Taylor, Quadrotor control using dual camera visual feedback, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), pp.4294-4299, 2003.
DOI : 10.1109/ROBOT.2003.1242264

O. Amidi, T. Kanade, and K. Fujita, A visual odometer for autonomous helicopter flight, Robotics and Autonomous Systems, vol.28, issue.2-3, pp.185-193, 1999.
DOI : 10.1016/S0921-8890(99)00016-0

M. Armstrong and A. Zisserman, Robust object tracking, Proc. Asian Conference on Computer Vision, p.5861, 1995.

J. Artieda, J. Sebastian, P. Campoy, J. Correa, I. Mondragón et al., Visual 3-D SLAM from UAVs, Journal of Intelligent and Robotic Systems, vol.8, issue.6, pp.299321-10846, 1007.
DOI : 10.1007/s10846-008-9304-8

S. Arulampalam, S. Maskell, and N. Gordon, A tutorial on particle lters for on-line nonlinear/non-gaussian bayesian tracking, IEEE Transactions on Signal Processing, vol.50, p.174188, 2002.

S. Azrad, F. Kendoul, and K. Nonami, Visual Servoing of Quadrotor Micro-Air Vehicle Using Color-Based Tracking Algorithm, Journal of System Design and Dynamics, vol.4, issue.2, p.255268, 2010.
DOI : 10.1299/jsdd.4.255

R. V. Babu, P. Pérez, and P. Bouthemy, Robust tracking with motion estimation and local Kernel-based color modeling, Image and Vision Computing, vol.25, issue.8, p.12051216, 2007.
DOI : 10.1016/j.imavis.2006.07.016

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

S. Benhimane and E. Malis, Real-time image-based tracking of planes using ecient second-order minimization, IEEE Int

S. Bertrand, T. Hamel, and H. Piet-lahanier, Stability Analysis of an UAV Controller using Singular Perturbation Theory, Conf. on Intelligent Robots and Systems Proceedings of the 17th IFAC World Congress, pp.943-948, 2004.
DOI : 10.3182/20080706-5-KR-1001.00962

S. Bircheld, Elliptical head tracking using intensity gradients and color histograms, IEEE Int. Conf. on Computer Vision and Pattern Recognition, p.232237, 1998.

S. Bircheld and S. Rangarajan, Spatiograms versus histograms for region-based tracking Anandan. The robust estimation of multiple motions : Parametric and piecewise-smooth ow elds, IEEE Int. Conf. on Computer Vision and Pattern Recognition, pp.1158116375-104, 1996.

S. Bouabdallah and R. Siegwart, Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.2247-2252, 2005.
DOI : 10.1109/ROBOT.2005.1570447

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel et al., Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle, IEEE Transactions on Robotics, vol.25, issue.3, pp.743-749, 2009.
DOI : 10.1109/TRO.2008.2011419

URL : https://hal.archives-ouvertes.fr/inria-00436722

G. Bradski, M. Bray, E. Koller-meier, and L. Van-gool, Computer Vision Face Tracking For Use in a Perceptual User Interface Rapport de recherche, Intel Technology, Smart particle ltering for 3d hand tracking. IEEE International Conference on Automatic Face and Gesture Recognition, p.675680, 1998.

D. C. Brown, Close-range camera calibration, Photogrammetric Engineering, vol.4, issue.2, p.127140, 1971.

L. Brèthes, F. Lerasle, P. Danès, and M. Fontmarty, Particle ltering strategies for data fusion dedicated to visual tracking from a mobile robot, Machine Vision and ApplicationsCha 08] S. Cha. Taxonomy of nominal type histogram distance measures . MATH'08 : Proceedings of the American Conference on Applied Mathematics, pp.427448-325330, 2008.

]. F. Chaumette and A. Santos, Tracking a moving object by visual servoing, 12th IFAC World Congress, p.643648, 1993.

F. Chaumette, S. Hutchinson, F. Chaumette, and S. Hutchinson, Visual servo control, part i : Basic approaches. IEEE Robotics and Automation Magazine Visual servo control, part ii : Advanced approaches, IEEE Robotics and Automation Magazine, vol.13, issue.141, p.8290109118, 2006.
DOI : 10.1109/mra.2006.250573

URL : https://hal.archives-ouvertes.fr/inria-00350283

T. Chen and . Liu, Trust-region methods for real-time tracking, IEEE Int. Conf. on Computer Vision, p.717, 2001.

A. Chiuso and S. Soatto, Monte-carlo ltering on lie groups

R. T. Collins, Mean-shift blob tracking through scale space, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings.
DOI : 10.1109/CVPR.2003.1211475

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

V. Ramesh and P. Meer, Real-time tracking of nonrigid objects using mean shift, IEEE Int. Conf. on Computer Vision and Pattern Recognition II 23440, jun IEEE Int. Conf. on Computer Vision and Pattern Recognition, p.142149, 2000.

V. Comaniciu, P. Ramesh, and . Meer, Kernel-based object tracking, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.25, issue.5, 2003.
DOI : 10.1109/TPAMI.2003.1195991

]. A. Comport, E. Marchand, M. Pressigout, and F. Chaumette, Real-time markerless tracking for augmented reality: the virtual visual servoing framework, IEEE Transactions on Visualization and Computer Graphics, vol.12, issue.4, p.61528, 2006.
DOI : 10.1109/TVCG.2006.78

URL : https://hal.archives-ouvertes.fr/inria-00161250

J. Courbon, Y. Mezouar, and P. Martinet, Indoor navigation of a non-holonomic mobile robot using a visual memory, Autonomous Robots, vol.22, issue.1, pp.253266-10514, 1007.
DOI : 10.1007/s10514-008-9093-8

J. Courbon, Y. Mezouar, N. Guenard, P. Martinet, A. Dame et al., Visionbased navigation of unmanned aerial vehicles Special Issue on Aerial Robotics. [Crétual 01] A. Crétual, F. Chaumette. Visual servoing based on image motion Accurate real-time tracking using mutual information, Control Engineering Practice Int. Journal of Robotics Research IEEE Int. Symposium on Mixed and Augmented Reality, vol.18857877, issue.2011, pp.789-799, 2010.

D. F. Dementhon and L. S. Davis, Model-based object pose in 25 lines of code, Int. Journal of Computer Vision, vol.15, p.123141, 1995.

C. Demonceaux, P. Vasseur, and C. Pegard, UAV Attitude Computation by Omnidirectional Vision in Urban Environment, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2017-2022, 2007.
DOI : 10.1109/ROBOT.2007.363618

N. Doucet, A. , D. Freitas, and N. Gordon, Sequential Monte Carlo methods in practice, 2001.
DOI : 10.1007/978-1-4757-3437-9

R. Dowson and . Bowden, Mutual information for lucaskanade tracking (milk) : An inverse compositional formulation
DOI : 10.1109/tpami.2007.70757

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

R. Drummond and T. Cipolla, Real-time visual tracking of complex structures, IEEE Trans. on Pattern Analysis and Machine Intelligence IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.30, issue.247, p.180185932946, 2002.

H. Durrant-whyte, T. Bailey, R. Fabbri, L. Da, F. Costa et al., Simultaneous localization and mapping : part i. IEEE Robotics Automation Magazine, pp.99-110, 2006.
DOI : 10.1109/mra.2006.1638022

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

A. Comput, Z. Surv, Y. Fan, M. Y. Wu, Y. Yang et al., Multiple collaborative kernel tracking Multiple collaborative kernel tracking, IEEE Int. Conf. on Computer Vision and Pattern Recognition IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.40, issue.27, pp.144-502, 2007.

O. D. Faugeras and G. Toscani, Camera calibration for 3d computer vision. International Workshop on Machine Vision and Machine Intelligence, 1987.

O. D. Faugeras, Three dimensional Computer Vision : A Geometric Viewpoint, 1993.

J. T. Feddema, R. W. Simon, N. Fischler, R. C. Bolles-]-n, D. J. Gordon et al., Cad-driven microassembly and visual servoing Random sample consensus : A paradigm for model tting with application to image analysis and automated cartography Novel Approach to Nonlinear/Non-Gaussian Bayesian State Estimation. Radar and Signal Processing, Grassia 98] F. S. Grassia. Practical parameterization of rotations using the exponential map GPU, and Game toolsGuenard 06] N. Guenard, T. Hamel, L. Eck. Control laws for the tele operation of an unmanned aerial vehicle known as an, pp.12121219381-3951071132948, 1981.

N. Guenard, Optimisation et implémentation de lois de commande embarquées pour la téléopération de micro drones aériens "X4-yer Hamel, Mahony. A practical visual servo control for an unmanned aerial vehicle, IEEE Trans. on Robotics, vol.24, issue.2, p.331340, 2007.

I. Guskov, Kernel-based Template Alignment, 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Volume 1 (CVPR'06), p.610
DOI : 10.1109/CVPR.2006.162

W. Dc, U. , G. Hager, and P. Belhumeur, Ecient region tracking with parametric models of geometry and illumination, Dewan, C. Stewart. Multiple kernel tracking with ssd. IEEE Int. Conf. on Computer Vision and Pattern Recognition, pp.10251039-790797, 1998.

R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2001.
DOI : 10.1017/CBO9780511811685

B. Hérissé, T. Hamel, R. Mahony, and F. Russotto, A terrainfollowing control approach for a vtol unmanned aerial vehicle using average optical ow, Autonomous Robots, p.119, 2010.

R. Horaud, B. Conio, O. Leboulleux, and B. Lacolle, An analytic solution for the perspective 4-points problem, Computer Vision, Graphics and Image Processing, vol.47, issue.1, p.3344, 1989.

B. Horn, Robot Vision, 1987.

S. Hrabar and G. Sukhatme, Omnidirectional vision for an autonomous helicopter, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), p.558563, 2003.
DOI : 10.1109/ROBOT.2003.1241653

P. Huber, Robust Statistics, 1981.
DOI : 10.1002/0471725250

]. M. Irani-98a, P. Irani, and . Anandan, Robust multi-sensor image alignment, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271)
DOI : 10.1109/ICCV.1998.710832

]. M. Irani-98b, P. Irani, and . Anandan, A unified approach to moving object detection in 2D and 3D scenes, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.20, issue.6, pp.577-589, 1998.
DOI : 10.1109/34.683770

M. Isard, A. A. Blake, and . Blake, Condensation : conditional density propagation for visual tracking Icondensation : Unifying low-level and high-level tracking in stochastic framework, European Conf. on Computer Vision, pp.528-893908, 1998.

A. D. Jepson, D. J. Fleet, T. F. El-maraghi, R. Babu, and K. R. Ramakrishnan, Robust online appearance models for visual tracking, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.25, issue.10, pp.1296-1311296, 2008.
DOI : 10.1109/TPAMI.2003.1233903

M. Dhome, Hyperplane approximation for template matching, IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.24, issue.7, p.9961000, 2002.
URL : https://hal.archives-ouvertes.fr/inria-00548267

C. Kemp, T. Drummond, G. Klein, and T. Drummond, Hellinger distance and akaike's information criterion for the histogram Dynamic measurement clustering to aid real time tracking Tightly integrated sensor fusion for robust visual tracking Full-3d edge tracking with a particle lter, IEEE Int. Conf. on Computer Vision British Machine Vision ConfKlose 10] S. Klose, J. Wang, M. Achtelik, G. Panin, F. Holzapfel, A. Knoll. Markerless, vision-assisted ight control of a quadrocopter, pp.293-298, 1993.

V. Lepetit and P. Fua, Monocular model-based 3d tracking of rigid objects : A survey. Foundations and Trends in Computer Graphics and Vision, p.189, 2005.

D. Lots, E. Lane, F. Trucco, and . Chaumette, A 2D visual servoing for underwater vehicle station keeping, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.933041

]. D. Lowe, Fitting parameterized three-dimensional models to images, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, issue.5, p.441450, 1991.
DOI : 10.1109/34.134043

]. D. Lowe, Robust model-based motion tracking trough the integration of search and estimation, Int. Journal of Computer Vision, vol.8, issue.2, p.113122, 1992.

C. P. Lu, G. D. Hager, E. Mjolsness, B. D. Lucas, and T. Kanade, Fast and globally convergent pose estimation from video images An iterative image registration technique with an application to stereo vision, Int. Joint Conf. on Articial Intelligence, IJCAI'81, pp.610622-674679, 1981.

J. B. Macqueen, Some methods for classication and analysis of multivariate observations Hybrid particle lter and mean shift tracker with adaptive transition model, Proc. of the fth Berkeley Symposium on Mathematical Statistics and Probability Proc. Int. Conf. Acoustics, Speech, and Signal Processing, pp.281297-221224, 1967.

]. E. Maggio-05b, A. Maggio, E. Cavallaro, F. Maggio, A. Smerladi et al., Multi-part target representation for color tracking Adaptive multifeature tracking in a particle ltering framework Accurate appearance-based bayesian tracking for maneuvering targets, Int. Conf. on Image Processing IEEE Trans. on Circuits and Systems for Video Technology Computer Vision and Image Understanding, vol.1, issue.1134, pp.11-141348, 2005.

E. Malis, E. Marchand, E. Malis, S. Benhimane, E. Marchand et al., Experiments with robust estimation techniques in real-time robot vision Homography-based 2d visual tracking and servoing. The Int Virtual visual servoing : A framework for real-time augmented reality, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, pp.223228661-676, 2006.

E. Marchand, F. Spindler, F. Chaumette, G. L. Mariottini, G. Oriolo et al., Visp for visual servoing : A generic software platform with a wide class of robot control skills Image-based visual servoing for nonholonomic mobile robots using epipolar geometry, dec 2005. [Mariottini 07], p.100, 2007.

N. Mikawa, F. Maru, and . Miyazaki, Visual servoing for non-holonomic mobile robots, IEEE Int. Conf. on Intelligent Robots and Systems, p.11331140, 1994.

]. I. Matthews, T. Ishikawa, and S. Baker, The template update problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.26, issue.6, p.810815, 2003.
DOI : 10.1109/TPAMI.2004.16

R. Mebarki, A. Krupa, and F. Chaumette, 2d ultrasound probe complete guidance by visual servoing using image moments
DOI : 10.1109/tro.2010.2042533

URL : https://hal.archives-ouvertes.fr/inria-00544791

R. Megret, M. Mikram, and Y. Berthoumieu, Inverse composition for multi-kernel tracking. Computer Vision, Graphics and Image Processing, p.480491, 2006.
DOI : 10.1007/11949619_43

URL : https://hal.archives-ouvertes.fr/hal-00172117

C. Mei, P. Rives, L. Mejías, S. Saripalli, P. Campoy et al., Cartographie et navigation simultanée avec un capteur de vision, october Visual servoing of an autonomous helicopter in urban areas using feature tracking, Journal of Field Robotics, vol.23, 2006.

N. Metni, J. Pimlin, T. Hamel, and P. Souères, Attitude and gyro bias estimation for a VTOL UAV, Control Engineering Practice, vol.14, issue.12, pp.1511-1520, 2006.
DOI : 10.1016/j.conengprac.2006.02.015

N. Metni and T. Hamel, Visual Tracking Control of Aerial Robotic Systems with Adaptive Depth Estimation, Proceedings of the 44th IEEE Conference on Decision and Control, p.5160, 2007.
DOI : 10.1109/CDC.2005.1583134

]. N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, The GRASP Multiple Micro-UAV Testbed, IEEE Robotics & Automation Magazine, vol.17, issue.3, pp.56-65, 2010.
DOI : 10.1109/MRA.2010.937855

K. Nummiaro, E. Loller-meier, and L. Van-gool, Means and averaging in the group of rotations. SIAM journal on matrix analysis and applications, p.5360, 2002.

E. Nummiaro, L. Loller-meier, and . Van-gool, An adaptive color-based particle lter, Image and Vision Computing, 2003.

S. Nuske, J. Roberts, and G. Wyeth, Visual localisation in outdoor industrial building environments, 2008 IEEE International Conference on Robotics and Automation, p.544550, 2008.
DOI : 10.1109/ROBOT.2008.4543263

P. Pérez, C. Hue, J. Vermaak, and M. Gangnet, Color-Based Probabilistic Tracking, European Conf. on Computer Vision, p.661675, 2002.
DOI : 10.1007/3-540-47969-4_44

J. Pimlin, R. Horaud, A. Yassine, and P. Tao, Commande d'un minidrone à hélice carénée : de la stabilisation dans le vent à la navigation autonome Object pose from a 2D to 3D point and line correspondance, Int. Journal of Computer Vision, vol.15, issue.3, p.225243, 1995.

M. Pressigout and E. Marchand, Real-time Hybrid Tracking using Edge and Texture Information, The International Journal of Robotics Research, vol.26, issue.7, p.26689713, 2007.
DOI : 10.1177/0278364907080477

URL : https://hal.archives-ouvertes.fr/inria-00350597

M. Pupilli and A. Calway, Real-time camera tracking using known 3d models and a particle lter, Int. Conf. on Pattern Recognition, 2006.

R. Raletz, P. Rives, and J. Borrelly, Basic theory of the helicopter Visual servoing techniques applied to an underwater vehicle, IEEE Int. Conf. on Robotics and Automation, vol.33, pp.1851-1856, 1997.

P. Rives and J. R. Azinheira, Visual Auto-landing of an Autonomous Aircraft, 2002.
URL : https://hal.archives-ouvertes.fr/inria-00071979

P. Rives, J. R. Azinheira, S. M. Rock, E. W. Frew, H. Jones et al., Linear structures following by an airship using vanishing point and horizon line in a visual servoing scheme 260, apr Combined cdgps and vision-based control of a small autonomous helicopter Visually guided landing of an unmanned aerial vehicle, IEEE Int. Conf. on Robotics and Automation American Control Conference IEEE Trans. on Robotics and Automation, vol.1, issue.193, pp.255-694, 1998.

S. Saripalli, G. S. Sukhatme, O. Shakernia, Y. Ma, T. J. Koo et al., Landing a helicopter on a moving target Landing an unmanned air vehicle : Vision based motion estimation and nonlinear control, IEEE Int. Conf. on Robotics and Automation, p.128145, 1999.

C. Shan, T. Tan, and Y. Wei, Real-time hand tracking using a mean shift embedded particle lter A vision system for landing an unmanned aerial vehicle, Pattern Recognition IEEE Int. Conf. on Robotics and Automation, vol.40, issue.2, pp.1720-1727, 2001.

J. Shi and C. Tomasi, Good features to track, IEEE Int. Conf. on Computer Vision and Pattern Recognition, CVPR'94, p.593600, 1994.

C. C. Slama, A. F. Smith, and A. E. Gelfand, Manual of Photogrammetry American Society of Photogrammetry and Remote Sensing, Falls Church Bayesian statistics without tears : A sampling-resampling perspective, The American Statistician, vol.46, issue.2, p.8488, 1980.

C. Stauer and W. E. Grimson, Adaptive background mixture models for real-time tracking, IEEE Int. Conf. on Computer Vision and Pattern Recognition, vol.2, p.252, 1999.

G. P. Stein, Lens distortion calibration using point correspondences, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, p.602608, 1997.
DOI : 10.1109/CVPR.1997.609387

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

J. Sullivan and J. Rittscher, Guiding random particles by deterministic search Chaumette. Point-based and region-based image moments for visual servoing of planar objects, IEEE Int. Conf. on Computer Vision, p.11161127, 2001.
DOI : 10.1109/iccv.2001.937536

B. Tamadazte, N. Lefort-piat, E. Marchand, and S. Dembélé, Microassembly of complex and solid 3D MEMS by 3D vision-based control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.32843289, 1991.
DOI : 10.1109/IROS.2009.5354488

C. Tomasi, T. Kanade, and R. Y. Tsai, Detection and Tracking of Point Features Rapport de Recherche n CMU-CS-91-132 An ecient and accurate camera calibration technique for 3D machine vision, IEEE Int. Conf. on Computer Vision and Pattern Recognition, p.364374, 1986.

L. Vacchetti, V. Lepetit, and P. Fua, Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking, Third IEEE and ACM International Symposium on Mixed and Augmented Reality, p.4857, 2004.
DOI : 10.1109/ISMAR.2004.24

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

F. W. Warner, Foundations of Dierentiable Manifolds and Lie Groups, 1983.

S. L. Waslander, G. M. Homann, J. S. Jang, and C. J. Tomlin, Multi-agent quadrotor testbed control design: integral sliding mode vs. reinforcement learning, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3712-3717, 2005.
DOI : 10.1109/IROS.2005.1545025

]. Y. Watanabe, C. Lesire, P. Fabiani, M. Sanfourche, and G. L. Besnerais, The onera ressac unmanned autonomous helicopter : Visual air-to-ground target tracking in an urban environment

]. H. Zhang and J. P. Ostrowski, Visual servoing with dynamics: control of an unmanned blimp, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp.618-623, 1999.
DOI : 10.1109/ROBOT.1999.770044

S. Zhou, R. Chellappa, and B. Moghaddam, Visual tracking and recognition using appearance-adaptive models in particle lters, IEEE Transactions on Image Processing, vol.13, p.14341456, 2004.