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

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3 Author(s)
Marchand, E. ; IRISA-INRIA, Rennes I Univ., France ; Spindler, F. ; Chaumette, F.

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.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:12 ,  Issue: 4 )