Team, Visitors, External Collaborators
Overall Objectives
Research Program
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


Visual servoing platform

Keywords: Augmented reality - Computer vision - Robotics - Visual servoing (VS) - Visual tracking

Scientific Description: Since 2005, we develop and release ViSP [1], an open source library available from ViSP standing for Visual Servoing Platform allows prototyping and developing applications using visual tracking and visual servoing techniques at the heart of the Rainbow research. ViSP was designed to be independent from the hardware, to be simple to use, expandable and cross-platform. ViSP allows designing vision-based tasks for eye-in-hand and eye-to-hand systems from the most classical visual features that are used in practice. It involves a large set of elementary positioning tasks with respect to various visual features (points, segments, straight lines, circles, spheres, cylinders, image moments, pose...) that can be combined together, and image processing algorithms that allow tracking of visual cues (dots, segments, ellipses...), or 3D model-based tracking of known objects or template tracking. Simulation capabilities are also available.

[1] E. Marchand, F. Spindler, F. Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, Special Issue on "Software Packages for Vision-Based Control of Motion", P. Oh, D. Burschka (Eds.), 12(4):40-52, December 2005.

Functional Description: ViSP provides simple ways to integrate and validate new algorithms with already existing tools. It follows a module-based software engineering design where data types, algorithms, sensors, viewers and user interaction are made available. Written in C++, ViSP is based on open-source cross-platform libraries (such as OpenCV) and builds with CMake. Several platforms are supported, including OSX, iOS, Windows and Linux. ViSP online documentation allows to ease learning. More than 300 fully documented classes organized in 17 different modules, with more than 408 examples and 88 tutorials are proposed to the user. ViSP is released under a dual licensing model. It is open-source with a GNU GPLv2 or GPLv3 license. A professional edition license that replaces GNU GPL is also available.