Use homography as a visual feature

[angeelalg]

Hello!

I would like to make a visual servoing with which I can move my Pan-Tilt always to the same position. For this I will have a reference image taken at the desired target location.
The idea is, starting from a position different from the reference one but with some overlap, to calculate the matching of characteristic points (SIFT, FLANN, RANSAC...) with respect to the reference image and with them the homography. I have already made this development with openCV and I have converted the center of the image with the homography to calculate the error and command velocities to my pan tilt with a simple proportional control.

My solution works but I think it is more scalable and would be more robust using ViSP. How could I use homography as a visual feature for even visual servoing?