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Conference Papers Year : 1999

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


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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inria-00352546 , version 1 (13-01-2009)


  • 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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