ViSP developed since 2004 at Inria is an open-source software cross-platform dedicated to visual-tracking and visual-servoing applications. After a brief overview highlighting the recent changes introduced in ViSP, the lecture will first focus on real-time vision-based detection and tracking algorithms that could be used to control a robot. Then I will focus on the visual-servoing controller part that will show how to consider the outputs of the detection and tracking algorithms to control a robot considering a static or a mobile target. The lecture will be illustrated by use cases, a set of sample codes and live demonstrations of markerless model-based tracking using a RGBD camera, visual servoing in simulation and on a mBot Ranger educational robot kit equipped with a Raspberry Pi.