F. 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-00350638

D. J. Agravante, J. Pagès, and F. Chaumette, Visual servoing for the REEM humanoid robot's upper body, 2013 IEEE International Conference on Robotics and Automation, pp.5253-5258, 2013.
DOI : 10.1109/ICRA.2013.6631328

D. J. Agravante, G. Claudio, F. Spindler, and F. Chaumette, Visual Servoing in an Optimization Framework for the Whole-Body Control of Humanoid Robots, IEEE Robotics and Automation Letters, vol.2, issue.2, pp.608-615, 2017.
DOI : 10.1109/LRA.2016.2645512
URL : https://hal.archives-ouvertes.fr/hal-01421734

A. I. 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, pp.615-628, 2006.
DOI : 10.1109/TVCG.2006.78
URL : https://hal.archives-ouvertes.fr/inria-00161250

R. Bajcsy, Active perception, Proceedings of the IEEE, vol.76, issue.8, pp.966-1005, 1988.
DOI : 10.1109/5.5968

J. Aloimonos, I. Weiss, and A. Bandyopadhyay, Active vision, International Journal of Computer Vision, vol.203, issue.4, pp.333-356, 1988.
DOI : 10.1109/TPAMI.1984.4767471

S. Chen, Y. Li, and N. M. Kwok, Active vision in robotic systems: A survey of recent developments, The International Journal of Robotics Research, vol.9, issue.1, pp.1343-1377, 2011.
DOI : 10.1007/BF01792868

J. Vaillant, A. Kheddar, H. Audren, F. Keith, S. Brossette et al., Multi-contact vertical ladder climbing with an HRP-2 humanoid, Autonomous Robots, vol.32, issue.9???10, pp.561-580, 2016.
DOI : 10.1177/0278364913488805
URL : https://hal.archives-ouvertes.fr/hal-01276931

T. Yoshikawa, Manipulability of Robotic Mechanisms, The International Journal of Robotics Research, vol.1, issue.1, pp.3-9, 1985.
DOI : 10.1177/027836498200100102

P. R. Giordano, R. Spica, and F. Chaumette, Learning the shape of image moments for optimal 3D structure estimation, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.5990-5996, 2015.
DOI : 10.1109/ICRA.2015.7140039
URL : https://hal.archives-ouvertes.fr/hal-01121630

B. J. Nelson and P. K. Khosla, Strategies for Increasing the Tracking Region of an Eye-in-Hand System by Singularity and Joint Limit Avoidance, The International Journal of Robotics Research, vol.16, issue.5, pp.255-269, 1995.
DOI : 10.1177/027836498500400201

J. Nocedal and S. Wright, Numerical Optimization, Series in Operations Research and Financial Engineering, 2000.
DOI : 10.1007/b98874

O. Kanoun, F. Lamiraux, and P. B. Wieber, Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task, IEEE Transactions on Robotics, vol.27, issue.4, pp.785-792, 2011.
DOI : 10.1109/TRO.2011.2142450
URL : https://hal.archives-ouvertes.fr/hal-00486755

G. H. Golub, P. C. Hansen, and D. P. Leary, Tikhonov Regularization and Total Least Squares, SIAM Journal on Matrix Analysis and Applications, vol.21, issue.1, pp.185-194, 1999.
DOI : 10.1137/S0895479897326432

R. Spica and P. Giordano, Active decentralized scale estimation for bearing-based localization, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5084-5091, 2016.
DOI : 10.1109/IROS.2016.7759746
URL : https://hal.archives-ouvertes.fr/hal-01355789

X. Gao, X. Hou, J. Tang, and H. Cheng, Complete solution classification for the perspective-three-point problem, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.25, pp.930-943, 2003.

H. Michel, P. Rives, ´. E. Marchand, F. Spindler, and F. Chaumette, Singularities in the determination of the situation of a robot effector from the perspective view of 3 points Research Report RR-1850, INRIA ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics and Automation Magazine, vol.18, issue.12 4, pp.40-52, 1993.

H. Ferreau, C. Kirches, A. Potschka, H. Bock, and M. Diehl, qpOASES: a parametric active-set algorithm for??quadratic programming, Mathematical Programming Computation, vol.27, issue.3, pp.327-363, 2014.
DOI : 10.1137/1.9781611971453

S. Amari and H. Nagaoka, Methods of information geometry, 2007.