Computer-implemented method for tracking in real time at least one substantially planar geometrical object from a real scene in at least two substantially consecutive images from at least one video stream, in an augmented reality application, the initialization of the method being automatic, the method being characterized in that it comprises the steps of, - determining a plurality of points of interest in at least one textured image of said at least one substantially planar object to be tracked; - extracting a plurality of image blocks centered on the plurality of points of interest and associated positions and orientations, poses of the blocks, based on at least one textured image of said at least one substantially planar object to be tracked; - receiving a first image from said at least one video stream, said first image comprising said at least one substantially planar object to be tracked; - storing said first image in first storage means to be used as an offline key image; - determining the position and orientation of said at least one substantially planar object to be tracked by determining a first point of interest and a second point of interest of the first image and defining a first image block around the first point of interest and a second image block around the second point of interest in said first image and comparing the first and the second image block with the plurality of image blocks previously stored in second storage means, each image block of said plurality of image blocks previously stored being associated with a pose of said at least one substantially planar object to be tracked, said pose being stored in said second storage means, said determined position and orientation of said at least one substantially planar object to be tracked in said first image being stored in said first storage means; - receiving a second image from said at least one video stream, said second image comprising said at least one substantially planar object to be tracked; and - evaluating the position and orientation of said at least one substantially planar object to be tracked in said second image based on the data of the offline key image and said determined position and orientation of said at least one substantially planar object to be tracked in said first image being stored in said first storage means. - determining a plurality of points of interest in at least one textured image of said at least one substantially planar object to be tracked; - extracting a plurality of image blocks centered on the plurality of points of interest and associated positions and orientations, poses of the blocks, based on at least one textured image of said at least one substantially planar object to be tracked; - receiving a first image from said at least one video stream, said first image comprising said at least one substantially planar object to be tracked; - storing said first image in first storage means to be used as an offline key image; - determining the position and orientation of said at least one substantially planar object to be tracked by determining a first point of interest and a second point of interest of the first image and defining a first image block around the first point of interest and a second image block around the second point of interest in said first image and comparing the first and the second image block with the plurality of image blocks previously stored in second storage means, each image block of said plurality of image blocks previously stored being associated with a pose of said at least one substantially planar object to be tracked, said pose being stored in said second storage means, said determined position and orientation of said at least one substantially planar object to be tracked in said first image being stored in said first storage means; - receiving a second image from said at least one video stream, said second image comprising said at least one substantially planar object to be tracked; and - evaluating the position and orientation of said at least one substantially planar object to be tracked in said second image based on the data of the offline key image and said determined position and orientation of said at least one substantially planar object to be tracked in said first image being stored in said first storage means.