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Conference Papers Year : 2018

Vision-based robot control with ViSP

Abstract

ViSP developed since 2004 at Inria is an open-source software cross-platform dedicated to visual-tracking and visual-servoing applications. After a brief overview highlighting the recent changes introduced in ViSP, the lecture will first focus on real-time vision-based detection and tracking algorithms that could be used to control a robot. Then I will focus on the visual-servoing controller part that will show how to consider the outputs of the detection and tracking algorithms to control a robot considering a static or a mobile target. The lecture will be illustrated by use cases, a set of sample codes and live demonstrations of markerless model-based tracking using a RGBD camera, visual servoing in simulation and on a mBot Ranger educational robot kit equipped with a Raspberry Pi.
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Dates and versions

hal-01935416 , version 1 (26-11-2018)

Identifiers

  • HAL Id : hal-01935416 , version 1

Cite

Fabien Spindler. Vision-based robot control with ViSP. ICRA 2018 - Tutorial on Vision-based Robot Control, May 2018, Brisbane, Australia. ⟨hal-01935416⟩
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