%0 Conference Proceedings
%F Marchand99c
%A Marchand, E.
%T ViSP: A software environment for eye-in-hand visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'99
%V 	 4
%P 3224-3229
%C Detroit, Michigan
%X 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
%U http://rainbow-doc.irisa.fr/pdf/1999_icra_marchand.pdf
%U http://dx.doi.org/10.1109/ROBOT.1999.774089
%8 May
%D 1999