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

E. Marchand 1 F. Spindler 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : 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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IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2005, 12 (4), pp.40-52
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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, Institute of Electrical and Electronics Engineers, 2005, 12 (4), pp.40-52. 〈inria-00351899〉

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