VISP: a software environment for eye-in-hand visual servoing

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 of 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.