%0 Journal Article %F Marchand05b %A Marchand, E. %A Spindler, F. %A Chaumette, F. %T ViSP for visual servoing: a generic software platform with a wide class of robot control skills %J IEEE Robotics and Automation Magazine %V 12 %N 4 %P 40-52 %I IEEE %X 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 %U http://rainbow-doc.irisa.fr/pdf/2005_ieee_ram_marchand.pdf %U http://dx.doi.org/10.1109/MRA.2005.1577023 %8 December %D 2005