Method for determining the relative position of a gripper, which comprises elongate male elements (1, 2), with respect to a receiver, which comprises female housings which are complementary to the elongate elements (1, 2), the method including the following steps: - repeatedly acquiring an image of a physical environment in the field of a camera which is positioned so that the image comprises the view of the end of respective forks (1, 2), the contour of the front face of the pallet, in particular the lateral uprights (33, 34) and central upright, the top face and the front openings of the two housings (36, 37) in which the forks (1, 2) are to engage, and - converting, for each pixel of the image, the two-dimensional location of the pixel in the plane of the image and the depth value of the image into a three-dimensional point which corresponds to a pixel being defined by three coordinate components (x, y, z), the method further comprises: - a step of extracting the image o from a set of pixels corresponding to the gripper o from a set of pixels corresponding to the receiver the method being characterized in that it further includes: - a step of locating a reference frame Ref r of the receiver, consisting of a Cartesian coordinate trihedron which has an origin 0 r (x r, y r, z r, A r, B r, C r) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref r being determined with respect to a reference point 0 r,ref on a digital model of the receiver - a step of locating a reference frame Ref p of the gripper, consisting of a Cartesian coordinate trihedron which has an origin 0 p (x p, y p, z p, A p, B p, C p) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref p being determined with respect to a reference point 0 p,ref on a digital model of the gripper - a step of calculating the relative Cartesian distance and orientation between the reference frame Ref r of the receiver and said reference frame Ref p of the gripper. - repeatedly acquiring an image of a physical environment in the field of a camera which is positioned so that the image comprises the view of the end of respective forks (1, 2), the contour of the front face of the pallet, in particular the lateral uprights (33, 34) and central upright, the top face and the front openings of the two housings (36, 37) in which the forks (1, 2) are to engage, and - converting, for each pixel of the image, the two-dimensional location of the pixel in the plane of the image and the depth value of the image into a three-dimensional point which corresponds to a pixel being defined by three coordinate components (x, y, z), the method further comprises: - a step of extracting the image o from a set of pixels corresponding to the gripper o from a set of pixels corresponding to the receiver - a step of extracting the image o from a set of pixels corresponding to the gripper o from a set of pixels corresponding to the receiver o from a set of pixels corresponding to the gripper o from a set of pixels corresponding to the receiver the method being characterized in that it further includes: - a step of locating a reference frame Ref r of the receiver, consisting of a Cartesian coordinate trihedron which has an origin 0 r (x r, y r, z r, A r, B r, C r) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref r being determined with respect to a reference point 0 r,ref on a digital model of the receiver - a step of locating a reference frame Ref p of the gripper, consisting of a Cartesian coordinate trihedron which has an origin 0 p (x p, y p, z p, A p, B p, C p) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref p being determined with respect to a reference point 0 p,ref on a digital model of the gripper - a step of calculating the relative Cartesian distance and orientation between the reference frame Ref r of the receiver and said reference frame Ref p of the gripper. - a step of locating a reference frame Ref r of the receiver, consisting of a Cartesian coordinate trihedron which has an origin 0 r (x r, y r, z r, A r, B r, C r) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref r being determined with respect to a reference point 0 r,ref on a digital model of the receiver - a step of locating a reference frame Ref p of the gripper, consisting of a Cartesian coordinate trihedron which has an origin 0 p (x p, y p, z p, A p, B p, C p) in the reference frame of the camera and of which the origin corresponds to the focal point of the camera and the reference orientation corresponds to the optical axis, the reference frame Ref p being determined with respect to a reference point 0 p,ref on a digital model of the gripper - a step of calculating the relative Cartesian distance and orientation between the reference frame Ref r of the receiver and said reference frame Ref p of the gripper.