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Article Dans Une Revue IEEE Robotics and Automation Magazine Année : 2005

ViSP for visual servoing: a generic software platform with a wide class of robot control skills

Résumé

ViSP (Visual Servoing Platform), a fully functional modular architecture that allows fast development of visual servoing applications, is described. The platform takes the form of a library which can be divided in three main modules: control processes, canonical vision-based tasks that contain the most classical linkages, and real-time tracking. ViSP software environment features independence with respect to the hardware, simplicity, extendibility, and portability. ViSP also features a large library of elementary tasks with various visual features that can be combined together, an image processing library that allows the tracking of visual cues at video rate, a simulator, an interface with various classical framegrabbers, a virtual 6-DOF robot that allows the simulation of visual servoing experiments, etc. The platform is implemented in C++ under Linux.
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Dates et versions

inria-00351899 , version 1 (12-01-2009)

Identifiants

  • HAL Id : inria-00351899 , version 1

Citer

E. Marchand, F. Spindler, François Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, 2005, 12 (4), pp.40-52. ⟨inria-00351899⟩
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