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In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, "as long as one of projected trajectories does not intersect with projecteddoi:10.1109/iros.1995.525771 dblp:conf/iros/HosodaSA95 fatcat:x2a3bljpzvenrbbk455nleltci