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This paper deal with the problem of executing a vision-based task in an unknown environment. During such a task, two unexpected events may occur: the image data loss due to a camera occlusion and the robot collision with obstacles. We first propose a method allowing to compute the visual data when they are totally lost, before addressing the obstacle avoidance problem. Then, we design a sensor-based control strategy to perform safely vision-based tasks despite complete loss of the image. Simulation and experimental results validate our work.