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This paper concerns the robust tracking of some features extracted from a sequence of images taken with an uncalibrated camera mounted on a mobile robot. Unlike most vision systems, the 3D structure of the observed objects is completely unknown. Thus, position-based visual servoing cannot be used. Similarly, one must be careful when using image-based visual servoing since the depths of the features are unknown. On the other hand, 2 1 2 D visual servoing can easily deal with unknown environmentsdoi:10.1109/robot.2002.1013420 dblp:conf/icra/EspiauMR02 fatcat:ti2zbawzvff65bicq35pxd6crm