Many computer vision problems such as recognition, image retrieval, and tracking require matching two images. Currently, ones try to find as reliable as possible matching techniques with a very little constraint of computational time. In this paper, we are interested in applying image matching technique into robotic problems such as visual servoing in which the computational time is a critical element. We propose in this paper a real time keypoint based matching method. The novelties of this method include a fast corner detector, a compact corner descriptor based on principal component analysis (PCA) technique and an efficient matching with help of approximate nearest neighbor (ANN) technique. We show that the method gives a very satisfying result on accuracy as well as the computational time. The matching algorithm is applied to control a robot in a visual servoing application. It works at 10-14Hz and is well robust to variations in 3D viewpoint and illumination.