diff --git a/lib/src/resource/base.dart b/lib/src/resource/base.dart
index afe2d6acdeb..3a17ef25b9f 100644
--- a/lib/src/resource/base.dart
+++ b/lib/src/resource/base.dart
@@ -55,6 +55,7 @@ class Subtype {
 abstract class Resource {
   abstract String name;
 
+  /// Send/Receive arbitrary commands to the [Resource]
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) {
     throw UnimplementedError();
   }
diff --git a/lib/src/services/vision.dart b/lib/src/services/vision.dart
new file mode 100644
index 00000000000..d2604edbbe5
--- /dev/null
+++ b/lib/src/services/vision.dart
@@ -0,0 +1,79 @@
+import 'package:fixnum/fixnum.dart';
+import 'package:grpc/grpc_connection_interface.dart';
+
+import '../../protos/common/common.dart';
+import '../../protos/service/vision.dart';
+import '../media/image.dart';
+import '../resource/base.dart';
+import '../utils.dart';
+
+class VisionClient implements ResourceRPCClient {
+  final String name;
+
+  @override
+  ClientChannelBase channel;
+
+  @override
+  VisionServiceClient get client => VisionServiceClient(channel);
+
+  VisionClient(this.name, this.channel);
+
+  /// Get a list of [Detection]s from the camera named [cameraName].
+  Future<List<Detection>> detectionsFromCamera(String cameraName, {Map<String, dynamic>? extra}) async {
+    final request = GetDetectionsFromCameraRequest(name: name, cameraName: cameraName, extra: extra?.toStruct());
+    final response = await client.getDetectionsFromCamera(request);
+    return response.detections;
+  }
+
+  /// Get a list of [Detection]s from the provided [image].
+  Future<List<Detection>> detections(ViamImage image, {Map<String, dynamic>? extra}) async {
+    final request = GetDetectionsRequest(
+        name: name,
+        image: image.raw,
+        width: Int64(image.image?.width ?? 0),
+        height: Int64(image.image?.height ?? 0),
+        mimeType: image.mimeType.name,
+        extra: extra?.toStruct());
+    final response = await client.getDetections(request);
+    return response.detections;
+  }
+
+  /// Get a list of [Classification]s from the camera named [cameraName].
+  /// The maximum number of [Classification]s returned is [count].
+  Future<List<Classification>> classificationsFromCamera(String cameraName, int count, {Map<String, dynamic>? extra}) async {
+    final request = GetClassificationsFromCameraRequest(name: name, cameraName: cameraName, n: count, extra: extra?.toStruct());
+    final response = await client.getClassificationsFromCamera(request);
+    return response.classifications;
+  }
+
+  /// Get a list of [Classification]s from the provided [image].
+  /// The maximum number of [Classification]s returned is [count].
+  Future<List<Classification>> classifications(ViamImage image, int count, {Map<String, dynamic>? extra}) async {
+    final request = GetClassificationsRequest(
+        name: name,
+        image: image.raw,
+        width: image.image?.width,
+        height: image.image?.height,
+        mimeType: image.mimeType.name,
+        n: count,
+        extra: extra?.toStruct());
+    final response = await client.getClassifications(request);
+    return response.classifications;
+  }
+
+  /// Get a list of [PointCloudObject]s from the camera named [cameraName].
+  Future<List<PointCloudObject>> objectPointClouds(String cameraName, {Map<String, dynamic>? extra}) async {
+    final request = GetObjectPointCloudsRequest(name: name, cameraName: cameraName, mimeType: MimeType.pcd.name, extra: extra?.toStruct());
+    final response = await client.getObjectPointClouds(request);
+    return response.objects;
+  }
+
+  /// Send/Receive arbitrary commands to the Resource
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+    final request = DoCommandRequest()
+      ..name = name
+      ..command = command.toStruct();
+    final response = await client.doCommand(request);
+    return response.result.toMap();
+  }
+}
diff --git a/lib/viam_sdk.dart b/lib/viam_sdk.dart
index eff12412ddc..3af19187361 100644
--- a/lib/viam_sdk.dart
+++ b/lib/viam_sdk.dart
@@ -49,5 +49,8 @@ export 'src/robot/client.dart';
 /// RPC
 export 'src/rpc/dial.dart';
 
+/// Services
+export 'src/services/vision.dart';
+
 /// Misc
 export 'src/viam_sdk.dart';
diff --git a/pubspec.yaml b/pubspec.yaml
index 7f394f00d97..0acfbeb758b 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -10,7 +10,7 @@ environment:
 dependencies:
   flutter:
     sdk: flutter
-  flutter_webrtc: ^0.9.47
+  flutter_webrtc: ^0.10.3
   grpc: ^3.2.3
   protobuf: ^3.0.0
   image: ^4.0.16
diff --git a/test/unit_test/app/app_client_test.dart b/test/unit_test/app/app_client_test.dart
index bf3f08913c5..db98714f5cd 100644
--- a/test/unit_test/app/app_client_test.dart
+++ b/test/unit_test/app/app_client_test.dart
@@ -13,7 +13,7 @@ void main() {
   late MockAppServiceClient serviceClient;
   late AppClient appClient;
 
-  setUp(() async {
+  setUp(() {
     serviceClient = MockAppServiceClient();
     appClient = AppClient(serviceClient);
   });
diff --git a/test/unit_test/mocks/service_clients_mocks.dart b/test/unit_test/mocks/service_clients_mocks.dart
index 10bfbcb42e0..3659bef4906 100644
--- a/test/unit_test/mocks/service_clients_mocks.dart
+++ b/test/unit_test/mocks/service_clients_mocks.dart
@@ -4,6 +4,7 @@ import 'package:viam_sdk/src/gen/app/data/v1/data.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/app/v1/app.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart';
+import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
 
 @GenerateNiceMocks([
   MockSpec<ClientChannelBase>(),
@@ -11,5 +12,6 @@ import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart';
   MockSpec<AppServiceClient>(),
   MockSpec<DataServiceClient>(),
   MockSpec<ProvisioningServiceClient>(),
+  MockSpec<VisionServiceClient>(),
 ])
 void main() {}
diff --git a/test/unit_test/mocks/service_clients_mocks.mocks.dart b/test/unit_test/mocks/service_clients_mocks.mocks.dart
index 7166cddcaa4..654c581a549 100644
--- a/test/unit_test/mocks/service_clients_mocks.mocks.dart
+++ b/test/unit_test/mocks/service_clients_mocks.mocks.dart
@@ -1,4 +1,4 @@
-// Mocks generated by Mockito 5.4.3 from annotations
+// Mocks generated by Mockito 5.4.4 from annotations
 // in viam_sdk/test/unit_test/mocks/service_clients_mocks.dart.
 // Do not manually edit this file.
 
@@ -15,11 +15,14 @@ import 'package:viam_sdk/src/gen/app/data/v1/data.pb.dart' as _i13;
 import 'package:viam_sdk/src/gen/app/data/v1/data.pbgrpc.dart' as _i12;
 import 'package:viam_sdk/src/gen/app/v1/app.pb.dart' as _i11;
 import 'package:viam_sdk/src/gen/app/v1/app.pbgrpc.dart' as _i10;
+import 'package:viam_sdk/src/gen/common/v1/common.pb.dart' as _i18;
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pb.dart' as _i15;
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pbgrpc.dart'
     as _i14;
 import 'package:viam_sdk/src/gen/robot/v1/robot.pb.dart' as _i9;
 import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart' as _i8;
+import 'package:viam_sdk/src/gen/service/vision/v1/vision.pb.dart' as _i17;
+import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart' as _i16;
 
 // ignore_for_file: type=lint
 // ignore_for_file: avoid_redundant_argument_values
@@ -649,6 +652,65 @@ class MockRobotServiceClient extends _i1.Mock
         ),
       ) as _i4.ResponseFuture<_i9.SendSessionHeartbeatResponse>);
 
+  @override
+  _i4.ResponseFuture<_i9.LogResponse> log(
+    _i9.LogRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #log,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i9.LogResponse>(
+          this,
+          Invocation.method(
+            #log,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub: _FakeResponseFuture_2<_i9.LogResponse>(
+          this,
+          Invocation.method(
+            #log,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i9.LogResponse>);
+
+  @override
+  _i4.ResponseFuture<_i9.GetCloudMetadataResponse> getCloudMetadata(
+    _i9.GetCloudMetadataRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #getCloudMetadata,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i9.GetCloudMetadataResponse>(
+          this,
+          Invocation.method(
+            #getCloudMetadata,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i9.GetCloudMetadataResponse>(
+          this,
+          Invocation.method(
+            #getCloudMetadata,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i9.GetCloudMetadataResponse>);
+
   @override
   _i3.ClientCall<Q, R> $createCall<Q, R>(
     _i7.ClientMethod<Q, R>? method,
@@ -3968,3 +4030,310 @@ class MockProvisioningServiceClient extends _i1.Mock
         ),
       ) as _i4.ResponseStream<R>);
 }
+
+/// A class which mocks [VisionServiceClient].
+///
+/// See the documentation for Mockito's code generation for more information.
+class MockVisionServiceClient extends _i1.Mock
+    implements _i16.VisionServiceClient {
+  @override
+  _i4.ResponseFuture<_i17.GetDetectionsFromCameraResponse>
+      getDetectionsFromCamera(
+    _i17.GetDetectionsFromCameraRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+          (super.noSuchMethod(
+            Invocation.method(
+              #getDetectionsFromCamera,
+              [request],
+              {#options: options},
+            ),
+            returnValue:
+                _FakeResponseFuture_2<_i17.GetDetectionsFromCameraResponse>(
+              this,
+              Invocation.method(
+                #getDetectionsFromCamera,
+                [request],
+                {#options: options},
+              ),
+            ),
+            returnValueForMissingStub:
+                _FakeResponseFuture_2<_i17.GetDetectionsFromCameraResponse>(
+              this,
+              Invocation.method(
+                #getDetectionsFromCamera,
+                [request],
+                {#options: options},
+              ),
+            ),
+          ) as _i4.ResponseFuture<_i17.GetDetectionsFromCameraResponse>);
+
+  @override
+  _i4.ResponseFuture<_i17.GetDetectionsResponse> getDetections(
+    _i17.GetDetectionsRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #getDetections,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i17.GetDetectionsResponse>(
+          this,
+          Invocation.method(
+            #getDetections,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i17.GetDetectionsResponse>(
+          this,
+          Invocation.method(
+            #getDetections,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i17.GetDetectionsResponse>);
+
+  @override
+  _i4.ResponseFuture<
+      _i17.GetClassificationsFromCameraResponse> getClassificationsFromCamera(
+    _i17.GetClassificationsFromCameraRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #getClassificationsFromCamera,
+          [request],
+          {#options: options},
+        ),
+        returnValue:
+            _FakeResponseFuture_2<_i17.GetClassificationsFromCameraResponse>(
+          this,
+          Invocation.method(
+            #getClassificationsFromCamera,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i17.GetClassificationsFromCameraResponse>(
+          this,
+          Invocation.method(
+            #getClassificationsFromCamera,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i17.GetClassificationsFromCameraResponse>);
+
+  @override
+  _i4.ResponseFuture<_i17.GetClassificationsResponse> getClassifications(
+    _i17.GetClassificationsRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #getClassifications,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i17.GetClassificationsResponse>(
+          this,
+          Invocation.method(
+            #getClassifications,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i17.GetClassificationsResponse>(
+          this,
+          Invocation.method(
+            #getClassifications,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i17.GetClassificationsResponse>);
+
+  @override
+  _i4.ResponseFuture<_i17.GetObjectPointCloudsResponse> getObjectPointClouds(
+    _i17.GetObjectPointCloudsRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #getObjectPointClouds,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i17.GetObjectPointCloudsResponse>(
+          this,
+          Invocation.method(
+            #getObjectPointClouds,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i17.GetObjectPointCloudsResponse>(
+          this,
+          Invocation.method(
+            #getObjectPointClouds,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i17.GetObjectPointCloudsResponse>);
+
+  @override
+  _i4.ResponseFuture<_i18.DoCommandResponse> doCommand(
+    _i18.DoCommandRequest? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #doCommand,
+          [request],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<_i18.DoCommandResponse>(
+          this,
+          Invocation.method(
+            #doCommand,
+            [request],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub:
+            _FakeResponseFuture_2<_i18.DoCommandResponse>(
+          this,
+          Invocation.method(
+            #doCommand,
+            [request],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<_i18.DoCommandResponse>);
+
+  @override
+  _i3.ClientCall<Q, R> $createCall<Q, R>(
+    _i7.ClientMethod<Q, R>? method,
+    _i6.Stream<Q>? requests, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #$createCall,
+          [
+            method,
+            requests,
+          ],
+          {#options: options},
+        ),
+        returnValue: _FakeClientCall_1<Q, R>(
+          this,
+          Invocation.method(
+            #$createCall,
+            [
+              method,
+              requests,
+            ],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub: _FakeClientCall_1<Q, R>(
+          this,
+          Invocation.method(
+            #$createCall,
+            [
+              method,
+              requests,
+            ],
+            {#options: options},
+          ),
+        ),
+      ) as _i3.ClientCall<Q, R>);
+
+  @override
+  _i4.ResponseFuture<R> $createUnaryCall<Q, R>(
+    _i7.ClientMethod<Q, R>? method,
+    Q? request, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #$createUnaryCall,
+          [
+            method,
+            request,
+          ],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseFuture_2<R>(
+          this,
+          Invocation.method(
+            #$createUnaryCall,
+            [
+              method,
+              request,
+            ],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub: _FakeResponseFuture_2<R>(
+          this,
+          Invocation.method(
+            #$createUnaryCall,
+            [
+              method,
+              request,
+            ],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseFuture<R>);
+
+  @override
+  _i4.ResponseStream<R> $createStreamingCall<Q, R>(
+    _i7.ClientMethod<Q, R>? method,
+    _i6.Stream<Q>? requests, {
+    _i3.CallOptions? options,
+  }) =>
+      (super.noSuchMethod(
+        Invocation.method(
+          #$createStreamingCall,
+          [
+            method,
+            requests,
+          ],
+          {#options: options},
+        ),
+        returnValue: _FakeResponseStream_3<R>(
+          this,
+          Invocation.method(
+            #$createStreamingCall,
+            [
+              method,
+              requests,
+            ],
+            {#options: options},
+          ),
+        ),
+        returnValueForMissingStub: _FakeResponseStream_3<R>(
+          this,
+          Invocation.method(
+            #$createStreamingCall,
+            [
+              method,
+              requests,
+            ],
+            {#options: options},
+          ),
+        ),
+      ) as _i4.ResponseStream<R>);
+}
diff --git a/test/unit_test/services/vision_test.dart b/test/unit_test/services/vision_test.dart
new file mode 100644
index 00000000000..da8fb451764
--- /dev/null
+++ b/test/unit_test/services/vision_test.dart
@@ -0,0 +1,82 @@
+import 'package:fixnum/fixnum.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:mockito/mockito.dart';
+import 'package:viam_sdk/protos/service/vision.dart';
+import 'package:viam_sdk/src/gen/common/v1/common.pb.dart';
+import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
+import 'package:viam_sdk/viam_sdk.dart';
+
+import '../mocks/mock_response_future.dart';
+import '../mocks/service_clients_mocks.mocks.dart';
+
+class FakeVisionClient extends VisionClient {
+  @override
+  VisionServiceClient get client => _client;
+
+  final MockVisionServiceClient _client;
+
+  FakeVisionClient(super.name, super.channel, this._client);
+}
+
+void main() {
+  late VisionClient client;
+  late MockVisionServiceClient serviceClient;
+
+  setUp(() {
+    serviceClient = MockVisionServiceClient();
+    client = FakeVisionClient('vision', MockClientChannelBase(), serviceClient);
+  });
+
+  group('Vision RPC Client Tests', () {
+    test('getDetectionsFromCamera', () async {
+      final expected = [Detection(xMin: Int64(1), xMax: Int64(2), yMin: Int64(3), yMax: Int64(4), confidence: 0.95, className: 'test')];
+      when(serviceClient.getDetectionsFromCamera(any))
+          .thenAnswer((_) => MockResponseFuture.value(GetDetectionsFromCameraResponse(detections: expected)));
+      final response = await client.detectionsFromCamera('cameraName');
+      expect(response, equals(expected));
+    });
+
+    test('getDetections', () async {
+      final expected = [Detection(xMin: Int64(1), xMax: Int64(2), yMin: Int64(3), yMax: Int64(4), confidence: 0.95, className: 'test')];
+      when(serviceClient.getDetections(any)).thenAnswer((_) => MockResponseFuture.value(GetDetectionsResponse(detections: expected)));
+      final response = await client.detections(ViamImage([1, 2, 3], const MimeType.unsupported('fake')));
+      expect(response, equals(expected));
+    });
+
+    test('getClassificationsFromCamera', () async {
+      final expected = [Classification(className: 'test-classification', confidence: 0.44)];
+      when(serviceClient.getClassificationsFromCamera(any))
+          .thenAnswer((_) => MockResponseFuture.value(GetClassificationsFromCameraResponse(classifications: expected)));
+      final response = await client.classificationsFromCamera('cameraName', 2);
+      expect(response, equals(expected));
+    });
+
+    test('getClassifications', () async {
+      final expected = [Classification(className: 'test-classification', confidence: 0.44)];
+      when(serviceClient.getClassifications(any))
+          .thenAnswer((_) => MockResponseFuture.value(GetClassificationsResponse(classifications: expected)));
+      final response = await client.classifications(ViamImage([1, 2, 3], const MimeType.unsupported('fake')), 2);
+      expect(response, equals(expected));
+    });
+
+    test('getObjectPointClouds', () async {
+      final expected = [
+        PointCloudObject(
+          pointCloud: [1, 2, 3, 4, 5, 6],
+          geometries: GeometriesInFrame(
+            referenceFrame: 'ref-frame',
+            geometries: [
+              Geometry(
+                center: Pose(x: 1, y: 2, z: 3, oX: 4, oY: 5, oZ: 6, theta: 7),
+              ),
+            ],
+          ),
+        ),
+      ];
+      when(serviceClient.getObjectPointClouds(any))
+          .thenAnswer((_) => MockResponseFuture.value(GetObjectPointCloudsResponse(objects: expected, mimeType: MimeType.pcd.name)));
+      final response = await client.objectPointClouds('cameraName');
+      expect(response, equals(expected));
+    });
+  });
+}