Shot-processing device, comprising: - a memory arranged to receive, on the one hand, scene data that comprise three-dimensional object pairs each associating an object identifier, and ellipsoid data which define an ellipsoid and its orientation and a position of its center in a common frame of reference and, on the other hand, shot data defining a two-dimensional image of the scene associated with the scene data, from a viewpoint corresponding to a desired pose, - a detector arranged to receive shot data and to return one or more two-dimensional object pairs each comprising an object identifier present in the scene data, and a shot region associated with this object identifier, - a preparer arranged to determine, for at least some of the two-dimensional object pairs from the detector, a set of positioning elements, the number whereof is less than or equal to the number of three-dimensional object pairs in the scene data that comprise the object identifier of the two-dimensional object pair in question, each positioning element associating the object identifier and the ellipsoid data of a three-dimensional object pair comprising this object identifier, and ellipse data which define an ellipse approximating the shot region of the two-dimensional object pair in question and its orientation as well as a position of its center in the two-dimensional image, - a combiner arranged to generate a list of candidates each associating one or more positioning elements and a shot orientation or the combination of at least two positioning elements, the positioning elements of a candidate being taken from separate two-dimensional object pairs and not relating to the same three-dimensional object pair, - an estimator arranged to calculate, for at least one of the candidates, a pose comprising a position and an orientation in the common frame of reference from the ellipse data and the ellipsoid data of the positioning elements, or from the ellipse data and the ellipsoid data of the one or more positioning elements and the shot orientation, - a selector arranged, for at least some of the poses, to project all of the ellipsoid data of the scene data onto the shot data from the pose, to determine a measurement of similarity between each projection of the ellipsoid data and each ellipse defined by a two-dimensional object pair coming from the detector, and to calculate a likelihood value by using, for each projection of the ellipsoid data, the largest measurement of similarity determined, and to select the pose that has the highest likelihood value. - a memory arranged to receive, on the one hand, scene data that comprise three-dimensional object pairs each associating an object identifier, and ellipsoid data which define an ellipsoid and its orientation and a position of its center in a common frame of reference and, on the other hand, shot data defining a two-dimensional image of the scene associated with the scene data, from a viewpoint corresponding to a desired pose, - a detector arranged to receive shot data and to return one or more two-dimensional object pairs each comprising an object identifier present in the scene data, and a shot region associated with this object identifier, - a preparer arranged to determine, for at least some of the two-dimensional object pairs from the detector, a set of positioning elements, the number whereof is less than or equal to the number of three-dimensional object pairs in the scene data that comprise the object identifier of the two-dimensional object pair in question, each positioning element associating the object identifier and the ellipsoid data of a three-dimensional object pair comprising this object identifier, and ellipse data which define an ellipse approximating the shot region of the two-dimensional object pair in question and its orientation as well as a position of its center in the two-dimensional image, - a combiner arranged to generate a list of candidates each associating one or more positioning elements and a shot orientation or the combination of at least two positioning elements, the positioning elements of a candidate being taken from separate two-dimensional object pairs and not relating to the same three-dimensional object pair, - an estimator arranged to calculate, for at least one of the candidates, a pose comprising a position and an orientation in the common frame of reference from the ellipse data and the ellipsoid data of the positioning elements, or from the ellipse data and the ellipsoid data of the one or more positioning elements and the shot orientation, - a selector arranged, for at least some of the poses, to project all of the ellipsoid data of the scene data onto the shot data from the pose, to determine a measurement of similarity between each projection of the ellipsoid data and each ellipse defined by a two-dimensional object pair coming from the detector, and to calculate a likelihood value by using, for each projection of the ellipsoid data, the largest measurement of similarity determined, and to select the pose that has the highest likelihood value.