The versatility of customer demand in addition to globalization involves companies to focus on how to improve their global performance. Industry 4.0 concepts are used by large companies for increasing their performance. Despite the success of these concepts, SMEs are reluctant to exploit them for their digital transformation. Nevertheless, human-machine collaboration by combining sustainability aspects with these new technologies corresponds to a solution for their performance improvement. This paper focuses on the use of computer vision and mobile robots for optimizing a production manufacturing through lean manufacturing methodology exploitation. Indeed, in a production line, products or raw materials transportation corresponds to a waste. A literature review based on organizational methods, industry 4.0 and vision including artificial intelligence tools allows to find concepts that will contribute to develop the solution for SMEs. This paper proposes a sustainable methodology, supported by an intelligent tool to reduce in SMEs, this motion waste and increase the operator’s well-being at work. An illustration based on an electronics card SME is presented to validate the concepts and tool that have been elaborated.