Mono-IBVS is an open-source implementation of monocular Image-Based Visual Servoing (IBVS), extracted and generalized from an industrial project.
The goal is to provide a lightweight, reusable, and extensible visual servoing foundation that can be used on platforms such as UAVs, mobile robots, and robotic arms.
The project is currently in a progressive open-sourcing phase. Core modules will be released step by step, together with complete examples and documentation based on the Webots simulation environment.
- Provide a production-ready, cleanly structured implementation of monocular IBVS
- Offer a readable, reusable, and extensible reference framework for researchers and engineers in visual servoing
- Gradually extend Webots simulation scenes, supporting tools, and more examples
- Eventually build an open and extensible visual servoing foundation library
- 🔜 Monocular IBVS controller implementation
- 🔜 Feature-point–based error computation
- 🔜 Visual servoing control law based on the interaction matrix
- 🔜 Built-in examples for quick start
- 🔜 Webots simulation examples (in progress)
- 🔜 Robotic arm / UAV visual servoing examples
- 🔜 Feature tracking modules (KLT / ORB, etc.)
- 🔜 Auxiliary tools: calibration, debugging, visualization
More modules and example code will be continuously released as the project evolves.
Contributions via PRs, issues, and suggestions are very welcome.
In particular, contributions in the following areas are appreciated:
- Improvements to feature extraction / matching algorithms
- Webots scene design and simulation scenarios
- Control law optimization and robustness enhancements
- System integration with robotic arms, UAVs, and other platforms
For questions, collaboration, or feedback, feel free to reach out via email: [email protected]
This project is released under the Apache 2.0 License, which is business-friendly and allows free use and modification.
For full details, please refer to the LICENSE file in this repository.