Visual tracking is one of the key components for robots

to accomplish a given task in a dynamic environment,

especially when independently moving objects are included.

This paper proposes an extension of Adaptive

Visual Servoing (hereafter, AVS) for unknown moving

object tracking. The method utilizes binocular stereo

vision, but does not need the knowledge of camera parameters.

Only one assumption is that the system

need stationary references in the both images by which

the system can predict the motion of unknown moving

objects. The basic ideas how we extended the AVS

method such that it can track unknown moving objects

are given and formalized into a new AVS system. The

experimental results with proposed control architecture

are shown and a discussion is given.