The Queen has officially opened part of Dundee's new £1bn waterfront during her visit to the city.

Her Majesty was joined by the Duke of Edinburgh when she visited Slessor Gardens, the public green space in the heart of the city.

She unveiled a plaque and met the people who have been involved in the project.

Children also gave a special performance at the ceremony.

The royal visit to the city began with a trip to the Michelin Tyre Factory, the city's largest private firm with around 900 employees.

Apprentices demonstrated skills including electrical testing, welding and a robot cage at the premises on Baldovie Road.

The Queen and Prince Philip then had an opportunity to watch the tyre-making machines in action at the BNS Auto Technology Centre.

Michelin's factory, which was once under threat of closure, has been producing tyres for 44 years and contributes around £45m to the local economy.

The royal party arrived by helicopter to a huge police presence in a field close to Drumgeith Park.

Later, the monarch and Prince Philip will have lunch at Dundee City Chambers where they will wave from the balcony to crowds in City Square.

The final engagement for the royal couple will be a visit Dundee University's Leverhulme Research Centre, where they will tour the forensic laboratory with Professor Sue Black.

They will see techniques such as facial recognition, fingerprinting and electrical fire investigation before the Queen unveils a plaque.

The centre was awarded the Queen's Anniversary Prize for Higher Education 2014.