.. Experimental-results, 65 3.5.1 Comparison between simple plane and multiplane approaches . . . . 65 3.5.2 Tracking in nominal conditions, p.67

L. Robustness-towards, 69 3.5.4.1 Case of specularities, p.72

.. Non, 88 4.5.1 Tracking in nominal conditions 88 4.5.2 Tracking in perturbed conditions 91 4.5.3 Tracking in light changing conditions, p.91

B. Delabarre, G. Caron, and E. Marchand, Omnidirectional Visual Servoing using the Normalized Mutual Information, 10th IFAC Symposium on Robot Control, 2012.
DOI : 10.3182/20120905-3-HR-2030.00119

URL : https://hal.archives-ouvertes.fr/hal-00750585

B. Delabarre and E. Marchand, Visual servoing using the sum of conditional variance, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012.
DOI : 10.1109/IROS.2012.6385540

URL : https://hal.archives-ouvertes.fr/hal-00750602

B. Delabarre and E. Marchand, Camera localization using mutual information-based multiplane tracking, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
DOI : 10.1109/IROS.2013.6696566

URL : https://hal.archives-ouvertes.fr/hal-00845301

A. Yol, B. Delabarre, A. Dame, J. Dartois, and E. Marchand, Vision-based absolute localization for unmanned aerial vehicles, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.14, 2014.
DOI : 10.1109/IROS.2014.6943040

URL : https://hal.archives-ouvertes.fr/hal-01010140

B. Delabarre and E. Marchand, Dense non-rigid visual tracking with a robust similarity function, 2014 IEEE International Conference on Image Processing (ICIP)
DOI : 10.1109/ICIP.2014.7026001

URL : https://hal.archives-ouvertes.fr/hal-00997377

. National-conference-papers-[-cn1-]-b, E. Delabarre, and . Marchand, ? Suivi multiplans 3D utilisant la somme des variances conditionnelles, Congrès francophone des jeunes chercheurs en vision par ordinateur , ORASIS'13, 2013.

. References, . Arad, . Reisfeld, N. Arad, and D. Reisfeld, Image warping using few anchor points and radial functions, In Computer Graphics Forum, vol.14, pp.35-46, 1995.

. Baker, . Matthews, S. Baker, and I. Matthews, Equivalence and efficiency of image alignment algorithms, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001, pp.1090-1097, 2001.
DOI : 10.1109/CVPR.2001.990652

M. Baker, S. Baker, and I. Matthews, Lucas-Kanade 20 Years On: A Unifying Framework, International Journal of Computer Vision, vol.56, issue.3, pp.221-255, 2004.
DOI : 10.1023/B:VISI.0000011205.11775.fd

J. P. Barreto and H. Araujo, Issues on the geometry of central catadioptric image formation, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001, 2001.
DOI : 10.1109/CVPR.2001.990992

. Barreto, Visual Servoing/Tracking Using Central Catadioptric Images, Experimental Robotics VIII, pp.245-254, 2003.
DOI : 10.1007/3-540-36268-1_21

URL : https://hal.archives-ouvertes.fr/inria-00590167

. Bartoli, Direct estimation of nonrigid registrations, British machine vision conference, pp.899-908, 2004.
URL : https://hal.archives-ouvertes.fr/hal-00094764

. Bay, Surf: Speeded up robust features, Computer Vision?ECCV 2006, pp.404-417, 2006.

. Benhimane, S. Malis-]-benhimane, and E. Malis, Real-time image-based tracking of planes using efficient second-order minimization, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.943-948, 2004.
DOI : 10.1109/IROS.2004.1389474

. Benhimane, . Malis, S. Benhimane, and E. Malis, Homography-based 2D visual servoing, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006.
DOI : 10.1109/ROBOT.2006.1642061

. Benhimane, . Malis, S. Benhimane, and E. Malis, Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006.
DOI : 10.1109/IROS.2006.281859

. Benhimane, S. Malis-]-benhimane, and E. Malis, Homography-based 2D Visual Tracking and Servoing, The International Journal of Robotics Research, vol.26, issue.7, pp.661-676, 2007.
DOI : 10.1177/0278364907080252

M. Berger, How to track efficiently piecewise curved contours with a view to reconstructing 3D objects, Proceedings of 12th International Conference on Pattern Recognition, pp.32-36, 1994.
DOI : 10.1109/ICPR.1994.576221

. Blake, . Isard, A. Blake, and M. Isard, Active Contours, 1998.
DOI : 10.1007/978-1-4471-1555-7

F. Bookstein, Principal warps: thin-plate splines and the decomposition of deformations, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.11, issue.6, pp.567-585, 1989.
DOI : 10.1109/34.24792

. Boukir, A local method for contour matching and its parallel implementation. Machine Vision and Application, pp.321-330, 1998.

P. Bouthemy, A maximum likelihood framework for determining moving edges, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.11, issue.5, pp.499-511, 1989.
DOI : 10.1109/34.24782

URL : https://hal.archives-ouvertes.fr/inria-00075857

. Brooks, The acronym model-based vision system, Proceedings of the 6th international joint conference on Artificial intelligence, pp.105-113, 1979.

D. Brown, Close-range camera calibration, Photogrammetric Engineering, vol.4, issue.2, pp.127-140, 1971.

. Brunet, Feature-Driven Direct Non-Rigid Image Registration, International Journal of Computer Vision, vol.2, issue.8, pp.33-52, 2011.
DOI : 10.1007/s11263-010-0407-x

. Caron, Omnidirectional photometric visual servoing, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010.
DOI : 10.1109/IROS.2010.5651658

URL : https://hal.archives-ouvertes.fr/inria-00544782

. Chaumette, F. Hutchinson-]-chaumette, and S. Hutchinson, Visual servo control. I. Basic approaches, IEEE Robotics & Automation Magazine, vol.13, issue.4, pp.82-90, 2006.
DOI : 10.1109/MRA.2006.250573

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

. Chaumette, F. Rives-]-chaumette, and P. Rives, Vision-Based-Control for Robotic Tasks, Proceedings of the IEEE International Workshop on Intelligent Motion Control, pp.395-400, 1990.
DOI : 10.1109/IMC.1990.687351

. Collewet, . Marchand, C. Collewet, and E. Marchand, Photometric Visual Servoing, IEEE Transactions on Robotics, vol.27, issue.4, pp.828-834, 2011.
DOI : 10.1109/TRO.2011.2112593

URL : https://hal.archives-ouvertes.fr/inria-00319107

. Collewet, Visual servoing set free from image processing, 2008 IEEE International Conference on Robotics and Automation, pp.81-86, 2008.
DOI : 10.1109/ROBOT.2008.4543190

URL : https://hal.archives-ouvertes.fr/inria-00261398

. Comaniciu, Real-time tracking of non-rigid objects using mean shift, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662), pp.142-149, 2000.
DOI : 10.1109/CVPR.2000.854761

. Comport, Real-time markerless tracking for augmented reality: the virtual visual servoing framework, IEEE Transactions on Visualization and Computer Graphics, vol.12, issue.4, pp.615-628, 2006.
DOI : 10.1109/TVCG.2006.78

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

. Corke, P. I. Paul-]-corke, and R. P. Paul, Video-rate visual servoing for robots, Experimental Robotics I, pp.429-451, 1990.

C. Crétual, A. Crétual, and F. Chaumette, Stabilisation dynamique d'une caméra pan and tilt par asservissement visuel sur des images sousmarines, 1998.

A. Dame and E. Marchand, Entropy-based visual servoing, 2009 IEEE International Conference on Robotics and Automation, pp.707-713, 2009.
DOI : 10.1109/ROBOT.2009.5152492

URL : https://hal.archives-ouvertes.fr/inria-00436926

A. Dame and E. Marchand, Accurate real-time tracking using mutual information, 2010 IEEE International Symposium on Mixed and Augmented Reality, 2010.
DOI : 10.1109/ISMAR.2010.5643550

URL : https://hal.archives-ouvertes.fr/inria-00544786

M. Dame, A. Dame, and E. Marchand, Mutual Information-Based Visual Servoing, IEEE Transactions on Robotics, vol.27, issue.5, pp.958-969, 2011.
DOI : 10.1109/TRO.2011.2147090

URL : https://hal.archives-ouvertes.fr/hal-00639674

M. Dame, A. Dame, and E. Marchand, Second-Order Optimization of Mutual Information for Real-Time Image Registration, IEEE Transactions on Image Processing, vol.21, issue.9, pp.4190-4203, 2012.
DOI : 10.1109/TIP.2012.2199124

URL : https://hal.archives-ouvertes.fr/hal-00750528

. Davison, MonoSLAM: Real-Time Single Camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, issue.6, pp.1052-1067, 2007.
DOI : 10.1109/TPAMI.2007.1049

M. Delabarre, B. Delabarre, and E. Marchand, Visual servoing using the sum of conditional variance, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1689-1694, 2012.
DOI : 10.1109/IROS.2012.6385540

URL : https://hal.archives-ouvertes.fr/hal-00750602

. Demonceaux, Central catadioptric image processing with geodesic metric, Image and Vision Computing, vol.29, issue.12, pp.29840-849, 2011.
DOI : 10.1016/j.imavis.2011.09.007

URL : https://hal.archives-ouvertes.fr/hal-00647150

F. Deriche, R. Deriche, and O. Faugeras, Tracking line segments, European Conference on Computer Vision, ECCV 90, pp.259-268, 1990.
DOI : 10.1016/0262-8856(90)80002-B

. Dowson, N. Bowden-]-dowson, and R. Bowden, A Unifying Framework for Mutual Information Methods for Use in Non-linear Optimisation, European Conference on Computer Vision, ECCV'06, pp.365-378, 2006.
DOI : 10.1007/11744023_29

C. Drummond, T. Drummond, and R. Cipolla, Real-time visual tracking of complex structures, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, issue.7, pp.932-946, 2002.
DOI : 10.1109/TPAMI.2002.1017620

. Espiau, A new approach to visual servoing in robotics, IEEE Transactions on Robotics and Automation, vol.8, issue.3, pp.313-326, 1992.
DOI : 10.1109/70.143350

. Espiau, A new approach to visual servoing in robotics, IEEE Transactions on Robotics and Automation, vol.8, issue.3, pp.313-326, 1992.
DOI : 10.1109/70.143350

O. Faugeras, Three-dimensional computer vision: a geometric viewpoint, 1993.

. References, . Faugeras, . Lustman, O. Faugeras, and F. Lustman, Motion and structure from motion in a piecewise planar environment, Int. Journal of Pattern Recognition and Artificial Intelligence, vol.2, issue.3, pp.485-508, 1988.

M. Feddema, J. Feddema, and O. Mitchell, Vision-guided servoing with feature-based trajectory generation (for robots), IEEE Transactions on Robotics and Automation, vol.5, issue.5, pp.691-700, 1989.
DOI : 10.1109/70.88086

B. Fischler, N. Fischler, and R. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

A. W. Fitzgibbon, Robust registration of 2D and 3D point sets, Image and Vision Computing, vol.21, issue.13-14, pp.1145-1153, 2003.
DOI : 10.1016/j.imavis.2003.09.004

. Gay-bellile, Feature-driven direct non-rigid image registration, BMVC, pp.1-10, 2007.
URL : https://hal.archives-ouvertes.fr/hal-00344681

. Gay-bellile, Direct Estimation of Nonrigid Registrations with Image-Based Self-Occlusion Reasoning, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.32, issue.1, pp.87-104, 2010.
DOI : 10.1109/TPAMI.2008.265

URL : https://hal.archives-ouvertes.fr/hal-00344663

C. Goodall, Procrustes methods in the statistical analysis of shape, Journal of the Royal Statistical Society. Series B (Methodological), pp.285-339, 1991.

B. Hager, G. Hager, and P. Belhumeur, Efficient region tracking with parametric models of geometry and illumination, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.20, issue.10, pp.1025-1039, 1998.
DOI : 10.1109/34.722606

T. Hager, G. Hager, and K. Toyama, X Vision: A Portable Substrate for Real-Time Vision Applications, Computer Vision and Image Understanding, vol.69, issue.1, pp.23-37, 1998.
DOI : 10.1006/cviu.1997.0586

T. Hamel and R. Mahony, Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach, IEEE Transactions on Robotics and Automation, vol.18, issue.2, 2002.
DOI : 10.1109/TRA.2002.999647

S. Harris, C. Harris, and M. Stephens, A Combined Corner and Edge Detector, Procedings of the Alvey Vision Conference 1988, pp.147-151, 1988.
DOI : 10.5244/C.2.23

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

P. Huber, Robust Statistics, 1981.

. Irani, . Anandan, M. Irani, and P. Anandan, Robust multi-sensor image alignment, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.959-966, 1998.
DOI : 10.1109/ICCV.1998.710832

. Irani, Detecting and tracking multiple moving objects using temporal integration, ECCV'92, pp.282-287, 1992.
DOI : 10.1007/3-540-55426-2_33

. References, . Jurie, F. Dhome-]-jurie, and M. Dhome, Real time 3D template matching, Int. Conf. on Computer Vision and Pattern Recognition, pp.791-796, 2001.

C. Kermorgant, O. Kermorgant, and F. Chaumette, Combining IBVS and PBVS to ensure the visibility constraint, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2849-2854, 2011.
DOI : 10.1109/IROS.2011.6094589

URL : https://hal.archives-ouvertes.fr/hal-00639683

F. Lepetit, V. Lepetit, and P. Fua, Monocular Model-Based 3D Tracking of Rigid Objects: A Survey, Foundations and Trends?? in Computer Graphics and Vision, vol.1, issue.1, pp.1-89, 2005.
DOI : 10.1561/0600000001

. Lieberknecht, A dataset and evaluation methodology for template-based tracking algorithms, 2009 8th IEEE International Symposium on Mixed and Augmented Reality, pp.145-151, 2009.
DOI : 10.1109/ISMAR.2009.5336487

B. Lim, H. Lim, and T. Binford, Curved surface reconstruction using stereo correspondence, Science Applications International Corp, Proceedings: Image Understanding Workshop, 1988.

D. Lowe, Fitting parameterized three-dimensional models to images, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, issue.5, pp.441-450, 1991.
DOI : 10.1109/34.134043

D. Lowe, Distinctive Image Features from Scale-Invariant Keypoints, International Journal of Computer Vision, vol.60, issue.2, pp.91-110, 2004.
DOI : 10.1023/B:VISI.0000029664.99615.94

K. Lucas, B. Lucas, and T. Kanade, An iterative image registration technique with an application to stereo vision, Int. Joint Conf. on Artificial Intelligence, IJCAI'81, pp.674-679, 1981.

. Lucas, An iterative image registration technique with an application to stereo vision, IJCAI, pp.674-679, 1981.

. Maes, Multimodality image registration by maximization of mutual information, IEEE Transactions on Medical Imaging, vol.16, issue.2, pp.187-198, 1997.
DOI : 10.1109/42.563664

E. Malis, An efficient unified approach to direct visual tracking of rigid and deformable surfaces, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2729-2734, 2007.
DOI : 10.1109/IROS.2007.4398990

E. Marchand, VISP: a software environment for eye-in-hand visual servoing, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp.3224-3229, 1999.
DOI : 10.1109/ROBOT.1999.774089

URL : https://hal.archives-ouvertes.fr/inria-00352546

C. Marchand, E. Marchand, and F. Chaumette, Virtual Visual Servoing: a framework for real-time augmented reality, EUROGRAPHICS'02 Conf. Proceeding, pp.289-298, 2002.
DOI : 10.1111/1467-8659.t01-1-00588

URL : https://hal.archives-ouvertes.fr/inria-00352096

. Marchand, ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics & Automation Magazine, vol.12, issue.4, pp.40-52, 2005.
DOI : 10.1109/MRA.2005.1577023

URL : https://hal.archives-ouvertes.fr/inria-00351899

. References and . Markovic, Moving object detection, tracking and following using an omnidirectional camera on a mobile robot, IEEE Int. Conf. on Robotics and Automation, p.14, 2014.

B. Odobez, J. Odobez, and P. Bouthemy, Robust Multiresolution Estimation of Parametric Motion Models, Journal of Visual Communication and Image Representation, vol.6, issue.4, pp.348-365, 1995.
DOI : 10.1006/jvci.1995.1029

R. Penrose, A generalized inverse for matrices, Mathematical Proceedings of the Cambridge Philosophical Society, vol.11, issue.03, pp.406-413, 1955.
DOI : 10.1093/qmath/2.1.189

. Petit, Combining complementary edge, point and color cues in model-based tracking for highly dynamic scenes, IEEE Int. Conf. on Robotics and Automation, ICRA'14, pp.4115-4120, 2014.
URL : https://hal.archives-ouvertes.fr/hal-00949197

M. Pressigout, M. Pressigout, and E. Marchand, Real-time Hybrid Tracking using Edge and Texture Information, The International Journal of Robotics Research, vol.26, issue.7, pp.26689-713, 2007.
DOI : 10.1177/0278364907080477

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

. Richa, Visual tracking using the sum of conditional variance, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2953-2958, 2011.
DOI : 10.1109/IROS.2011.6094650

. Rives, Visual servoing based on a task function approach, 1st Int. Symp. on Experimental Robotics, ISER'89, pp.412-428, 1989.
DOI : 10.1007/BFb0042532

P. Rousseeuw, Least Median of Squares Regression, Journal of the American Statistical Association, vol.53, issue.388, pp.871-880, 1984.
DOI : 10.1214/aos/1176345451

. Rueckert, Nonrigid registration using free-form deformations: application to breast MR images, IEEE Transactions on Medical Imaging, vol.18, issue.8, pp.18712-721, 1999.
DOI : 10.1109/42.796284

M. Ruprecht, D. Ruprecht, and H. Müller, Free Form Deformation with Scattered Data Interpolation Methods, 1993.
DOI : 10.1007/978-3-7091-6916-2_19

. Scandaroli, Improving NCC-Based Direct Visual Tracking, European conference on Computer Vision, ECCV'12, pp.442-455, 2012.
DOI : 10.1007/978-3-642-33783-3_32

P. Sederberg, T. W. Sederberg, and S. R. Parry, Free-form deformation of solid geometric models, ACM SIGGRAPH Computer Graphics, vol.20, issue.4, pp.151-160, 1986.
DOI : 10.1145/15886.15903

C. Shannon, A Mathematical Theory of Communication, Bell System Technical Journal, vol.27, issue.3, pp.379-423, 1948.
DOI : 10.1002/j.1538-7305.1948.tb01338.x

C. Shannon, A mathematical theory of communication, ACM SIGMOBILE Mobile Computing and Communications Review, vol.5, issue.1, pp.3-55, 2001.
DOI : 10.1145/584091.584093

. Shi, . Tomasi, J. Shi, and C. Tomasi, Good features to track, IEEE Int. Conf. on Computer Vision and Pattern Recognition, CVPR'94, pp.593-600, 1994.

. Shum, . Szeliski, H. Shum, and R. Szeliski, Systems and experiment paper: Construction of panoramic image mosaics with global and local alignment, International Journal of Computer Vision, vol.36, issue.2, pp.101-130, 2000.
DOI : 10.1023/A:1008195814169

M. Silveira, G. Silveira, and E. Malis, Real-time Visual Tracking under Arbitrary Illumination Changes, 2007 IEEE Conference on Computer Vision and Pattern Recognition, 2007.
DOI : 10.1109/CVPR.2007.382993

H. Studholme, C. Studholme, D. Hill, and D. Hawkes, An overlap invariant entropy measure of 3D medical image alignment, Pattern Recognition, vol.32, issue.1, pp.71-86, 1999.
DOI : 10.1016/S0031-3203(98)00091-0

B. Sundareswaran, V. Sundareswaran, and R. Behringer, Visual servoing-based augmented reality, IEEE Int. Workshop on Augmented Reality, 1998.

R. Tsai, An efficient and accurate camera calibration technique for 3D machine vision, IEEE Int. Conf. on Computer Vision and Pattern Recognition, CVPR'86, pp.364-374, 1986.

. Vacchetti, Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking, Third IEEE and ACM International Symposium on Mixed and Augmented Reality, pp.48-57, 2004.
DOI : 10.1109/ISMAR.2004.24

E. Malis, Visual servoing based on an analytical homography decomposition, Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC'05. 44th IEEE Conference on, pp.5379-5384, 2005.

M. Vincze, Robust tracking of ellipses at frame rate, Pattern Recognition, vol.34, issue.2, pp.487-498, 2001.
DOI : 10.1016/S0031-3203(99)00230-7

P. Viola and W. Wells, Alignment by maximization of mutual information, Proceedings of IEEE International Conference on Computer Vision, pp.137-154, 1997.
DOI : 10.1109/ICCV.1995.466930

L. Weiss, Dynamic visual servo control of robots: An adaptive image-based approach, Proceedings. 1985 IEEE International Conference on Robotics and Automation, 1984.
DOI : 10.1109/ROBOT.1985.1087296

Y. , H. Ying, and . Hu, Can We Consider Central Catadioptric Cameras and Fisheye Cameras within a Unified Imaging Model, European Conference on Computer Vision, 2004.

. Yol, Vision-based absolute localization for unmanned aerial vehicles, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3429-3434, 2014.
DOI : 10.1109/IROS.2014.6943040

URL : https://hal.archives-ouvertes.fr/hal-01010140