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ViSP: A software environment for eye-in-hand visual servoing

E. Marchand 1 
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, we describe a modular software that allows fast development of eye-in-hand image-based visual servoing applications (ViSP states for ``Visual Servoing Platform''). Visual servoing consists in specifying a task as the regulation in the image of a set of visual features. Various issues have thus to considered in the design of such application: among these issues we find the control of camera motions and the tracking of visual features. Our environment features a wide class of control skills as well as a library of real-time tracking processes. Some applications that used this modular architecture on a six dof cartesian robot are finally presented.
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Submitted on : Tuesday, January 13, 2009 - 12:20:32 PM
Last modification on : Friday, February 4, 2022 - 3:18:30 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:13:54 PM


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  • HAL Id : inria-00352546, version 1


E. Marchand. ViSP: A software environment for eye-in-hand visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'99, 1999, Detroit, Michigan, United States. pp.3224-3229. ⟨inria-00352546⟩



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