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.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'99, 1999, Detroit, Michigan, United States. 4, pp.3224-3229, 1999
Liste complète des métadonnées

https://hal.inria.fr/inria-00352546
Contributeur : Eric Marchand <>
Soumis le : mardi 13 janvier 2009 - 12:20:32
Dernière modification le : mercredi 16 mai 2018 - 11:23:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:13:54

Fichier

1999_icra_marchand.pdf
Fichiers éditeurs autorisés sur une archive ouverte

Identifiants

  • HAL Id : inria-00352546, version 1

Collections

Citation

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. 4, pp.3224-3229, 1999. 〈inria-00352546〉

Partager

Métriques

Consultations de la notice

265

Téléchargements de fichiers

149