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E. Marchand. ViSP: A Software Environment for Eye-in-Hand Visual Servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'99, Volume 4, Pages 3224-3229, Detroit, Michigan, May 1999.

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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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   Author = {Marchand, E.},
   Title = {ViSP: A Software Environment for Eye-in-Hand Visual Servoing},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'99},
   Volume = {4},
   Pages = {3224--3229},
   Address = {Detroit, Michigan},
   Month = {May},
   Year = {1999}

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