ViSP for Visual Servoing: A Generic Software Platform with a Wide Class of Robot Control Skills

摘要

ViSP is a fully functional modular architecture that allows fast development of visual servoing applications. The platform takes the form of a library which can be divided in three main modules: two are dedicated to control issues (one for control processes and one for canonical vision-based tasks that contains the most classical linkages) and one dedicated to real-time tracking. Let us finally note that ViSP also features a virtual 6-DOF robot that allows the simulation of visual servoing experiments. ViSP is developed within the INRIA Lagadic project and its kernel, available under the Linux system, is distributed using an open-source license (QPL License). Other modules such as the 3-D model-based tracker are subject to other licenses. The ViSP Web site is located at http:// www.irisa.fr/lagadic/visp. The examples given in the article and many others can be found in the software distribution.