In this paper, we determine the analytical form of

the interaction matrix related to any moments that

can be computed from binary or segmented images.

We then apply this theoretical result to image-based

visual servoing by selecting six combinations of mo-

ments able to control the six dof of the system. The

experimental results we present show that a correct

behavior of the system is obtained if we consider ei-

ther a simple symetrical object, either a planar object

with complex and unknown shape.