Computer-implemented method for estimation of the occlusion at a plurality of points P of a virtual environment, each point of the plurality of points P belonging to a surface grouping at least some of the points of the virtual environment visible from a viewpoint, the method comprising the steps of, for each point of the plurality of points: - sampling a base of a half-sphere centred on the point and orthogonal to a viewpoint direction into a plurality of base samples; - rotating said half-sphere by rotating said plurality of base samples of a determined angle of rotation into a set of samples, wherein the angle of rotation varies from one point P to another; - forming a plurality of half-lines, each half-line being formed by projecting a sample of said set of samples onto the rotated half-sphere according to an orthogonal axis at a basis of said rotated half-sphere, said half line having as origin said point P and as end said projection of the sample onto said rotated half-sphere, - estimating information representative of intersections between said surface and said plurality of half-lines, said intersections being estimated by discretization of each half-line of said plurality of half-lines, - associating contributions with the half-lines of said plurality of half-lines having an intersection with said surface, each contribution being a function of the occlusion distance (Δ' 0j) separating said point P from said intersection, and the value of the contribution associated with a half-line of said plurality being inversely proportional to the distance separating said point P from the intersection between said half-line and said surface, and - estimating occlusion at said point P from said information representative of intersections estimated and said contributions, the occlusion at said point P corresponding to the ratio of the number of half-lines having an intersection with said surface to the total number of the plurality of half-lines, the numerator of said ratio representative of a sum of the intersections between said half-lines and said surface, each of the summed intersections being weighted with the contribution associated with the corresponding half-line; and - generating an image of the virtual environment using the estimated occlusion. - sampling a base of a half-sphere centred on the point and orthogonal to a viewpoint direction into a plurality of base samples; - rotating said half-sphere by rotating said plurality of base samples of a determined angle of rotation into a set of samples, wherein the angle of rotation varies from one point P to another; - forming a plurality of half-lines, each half-line being formed by projecting a sample of said set of samples onto the rotated half-sphere according to an orthogonal axis at a basis of said rotated half-sphere, said half line having as origin said point P and as end said projection of the sample onto said rotated half-sphere, - estimating information representative of intersections between said surface and said plurality of half-lines, said intersections being estimated by discretization of each half-line of said plurality of half-lines, - associating contributions with the half-lines of said plurality of half-lines having an intersection with said surface, each contribution being a function of the occlusion distance (Δ' 0j) separating said point P from said intersection, and the value of the contribution associated with a half-line of said plurality being inversely proportional to the distance separating said point P from the intersection between said half-line and said surface, and - estimating occlusion at said point P from said information representative of intersections estimated and said contributions, the occlusion at said point P corresponding to the ratio of the number of half-lines having an intersection with said surface to the total number of the plurality of half-lines, the numerator of said ratio representative of a sum of the intersections between said half-lines and said surface, each of the summed intersections being weighted with the contribution associated with the corresponding half-line; and - generating an image of the virtual environment using the estimated occlusion.