Selective sorting method for identifying and sorting material objects of the waste type, of different natures, sizes and shapes and having the form of a pile, said method comprising the following steps: a) providing a flow of objects in the form of a pile, to a viewing zone comprising at least two sensors for measuring electromagnetic radiation, said zone located in the zone of action of a robot provided with one or several grasping members; b) capturing at least two two-dimensional images of the pile contained in said viewing zone using said sensors for measuring electromagnetic radiation, in order to reconstruct a virtual or electronic image of the pile of objects in the viewing zone that can be viewed on a screen; c) processing the information resulting from said two-dimensional images, and identifying all of the possible grasping zones associated with the objects present in the pile for said grasping member or members of said robot without seeking to know the nature of said objects; d) locating, in position and orientation, said possible grasping zones; e) choosing one of the grasping zones; f) automatically defining, for a given grasping member, a trajectory for grasping an object corresponding to the chosen grasping zone; g) grasping the corresponding unit object according to the trajectory defined; h) moving said unit object grasped to a receiving zone; i) moving said unit object located in said receiving zone to an outlet according to the nature; said method comprising that the nature of the object grasped or that is to be grasped by the robot is assigned between the steps e) and i), and consists in capturing at least one two-dimensional image wherein said object appears, using at least one sensor for electromagnetic radiation and in diffusing at least one of said two-dimensional images on a display screen that can be observed by an operator, said operator assigning a nature to said object viewed. a) providing a flow of objects in the form of a pile, to a viewing zone comprising at least two sensors for measuring electromagnetic radiation, said zone located in the zone of action of a robot provided with one or several grasping members; b) capturing at least two two-dimensional images of the pile contained in said viewing zone using said sensors for measuring electromagnetic radiation, in order to reconstruct a virtual or electronic image of the pile of objects in the viewing zone that can be viewed on a screen; c) processing the information resulting from said two-dimensional images, and identifying all of the possible grasping zones associated with the objects present in the pile for said grasping member or members of said robot without seeking to know the nature of said objects; d) locating, in position and orientation, said possible grasping zones; e) choosing one of the grasping zones; f) automatically defining, for a given grasping member, a trajectory for grasping an object corresponding to the chosen grasping zone; g) grasping the corresponding unit object according to the trajectory defined; h) moving said unit object grasped to a receiving zone; i) moving said unit object located in said receiving zone to an outlet according to the nature;