Method for estimating the movement of an object moving about an environment (Σ), the method being characterised in that it includes the steps of: (a) acquiring, by optical acquisition means secured to the object, at least two consecutive depth images of the environment (Σ); (b) selecting, by data-processing means of a device, at least one sub-portion (Ω i) of the two depth images, (c) for each selected sub-portion (Ω i) of the two depth images, calculating by the data-processing means on the basis of the depth values of the pixels in the sub-portion (Ω i): ∘ a first parameter (γ i) representing a difference between the two depth images of a volume associated with a solid angle defined by a contour (∂Ω i) of the sub-portion (Ω i); ∘ a second parameter (α i) given by the formula ∮ ∂Ω i ( D 3 η × n) dl η applied to at least one of the two depth images; ∘ a third parameter (β i) given by the formula 3 2 ∮ ∂ Ω i D 2 n d l η applied to at least one of the two depth images, where for a pixel of the contour (∂Ω i) of a sub-portion (Ω i) of a depth image, D is the depth associated with the pixel, η is the unit vector representing the direction of observation associated with the pixel, n is the unit vector normal to the contour (∂Ω i) in said pixel, and dl η is a basic length element of the contour (∂Ω i) of the sub-portion (Ω i); (d) estimating, by the data-processing means, at least one component of the movement of said object on the basis of the first, second and third parameters (α i, β i, γ i) associated with each sub-portion (Ω i). (a) acquiring, by optical acquisition means secured to the object, at least two consecutive depth images of the environment (Σ); (b) selecting, by data-processing means of a device, at least one sub-portion (Ω i) of the two depth images, (c) for each selected sub-portion (Ω i) of the two depth images, calculating by the data-processing means on the basis of the depth values of the pixels in the sub-portion (Ω i): ∘ a first parameter (γ i) representing a difference between the two depth images of a volume associated with a solid angle defined by a contour (∂Ω i) of the sub-portion (Ω i); ∘ a second parameter (α i) given by the formula ∮ ∂Ω i ( D 3 η × n) dl η applied to at least one of the two depth images; ∘ a third parameter (β i) given by the formula 3 2 ∮ ∂ Ω i D 2 n d l η applied to at least one of the two depth images, where for a pixel of the contour (∂Ω i) of a sub-portion (Ω i) of a depth image, D is the depth associated with the pixel, η is the unit vector representing the direction of observation associated with the pixel, n is the unit vector normal to the contour (∂Ω i) in said pixel, and dl η is a basic length element of the contour (∂Ω i) of the sub-portion (Ω i); ∘ a first parameter (γ i) representing a difference between the two depth images of a volume associated with a solid angle defined by a contour (∂Ω i) of the sub-portion (Ω i); ∘ a second parameter (α i) given by the formula ∮ ∂Ω i ( D 3 η × n) dl η applied to at least one of the two depth images; ∘ a third parameter (β i) given by the formula 3 2 ∮ ∂ Ω i D 2 n d l η applied to at least one of the two depth images, (d) estimating, by the data-processing means, at least one component of the movement of said object on the basis of the first, second and third parameters (α i, β i, γ i) associated with each sub-portion (Ω i).