A computer method for hybrid tracking of a representation of at least one object in an image sequence using at least one keyframe, said method being characterized in that it comprises the following steps, - acquiring of a first and of a second image from said image sequence, each comprising a representation of said at least one object; - identifying at least one first image portion of said first image, said at least one first image portion of said first image comprising at least part of a representation of said at least one object; - extracting of at least one second image portion of said at least one key image, said at least one second image portion of said at least one key image comprising at least part of a representation of said at least one object; - estimating at least one first relative pose of said at least one object in at least one first image portion of said second image, similar to said at least one first image portion of said first image, according to said at least one first image portion of said first image; said step of estimating said at least one first relative pose of said at least one object in said at least one first image portion of said second image comprising a step of searching (310, 710, 710'), in said second image, for said at least one first image portion of said second image similar to said at least one first image portion of said first image - searching (320, 760, 770) for at least one second image portion of said second image, similar to said at least one second image portion of said key frame said step of searching for at least one second image portion of said second image comprising a step of reprojecting said at least one second image portion of said key image according to an estimated pose of said at least one object from the first image, and - estimating (330, 725, 775) the relative pose of said at least one object according to said at least one first relative pose and at least one second relative pose of said at least one object in said at least one second image portion of said second image, similar to said at least one second image portion of said key image; - said at least one second portion of said key image being extracted from said at least one key image according to at least one previously determined point of interest of said key image; - the method further comprising a step of selecting (740, 740') said at least one point of interest - said step of selecting (740, 740') said at least one point of interest comprising a selection of the points of interest as a function of the size of the object tracked in said second image or a selection of the points of interest according to a grid combined with the key image. - acquiring of a first and of a second image from said image sequence, each comprising a representation of said at least one object; - identifying at least one first image portion of said first image, said at least one first image portion of said first image comprising at least part of a representation of said at least one object; - extracting of at least one second image portion of said at least one key image, said at least one second image portion of said at least one key image comprising at least part of a representation of said at least one object; - estimating at least one first relative pose of said at least one object in at least one first image portion of said second image, similar to said at least one first image portion of said first image, according to said at least one first image portion of said first image; - searching (320, 760, 770) for at least one second image portion of said second image, similar to said at least one second image portion of said key frame said step of searching for at least one second image portion of said second image comprising a step of reprojecting said at least one second image portion of said key image according to an estimated pose of said at least one object from the first image, and - estimating (330, 725, 775) the relative pose of said at least one object according to said at least one first relative pose and at least one second relative pose of said at least one object in said at least one second image portion of said second image, similar to said at least one second image portion of said key image; - said at least one second portion of said key image being extracted from said at least one key image according to at least one previously determined point of interest of said key image; - the method further comprising a step of selecting (740, 740') said at least one point of interest - said step of selecting (740, 740') said at least one point of interest comprising a selection of the points of interest as a function of the size of the object tracked in said second image or a selection of the points of interest according to a grid combined with the key image.