This paper presents the use of 3D visual features in the so-called "Visual Servo-ing Approach". After having brie y recalled how the task function approach is used in visual servoing, we present the notion of 3D logical vision sensors which permit us to extract visual information. In particular, we a r e i n terested in those composed of the estimation of both a 3D point and a 3D attitude. We g i v e t h e c o n trol law expression with regard to the two kinds of visual features performed at video rate with our robotic platform. We present some of the experimental results and show the good convergence of the control laws.