Method for following an object in a sequence of at least two so-called previous and current images, said method comprising the following steps: - forming a first set of points ( E p = { P p,..., P p ( i),..., P p}), and respectively a second set ( E c = { P c,..., P c ( i),..., P c}), by extracting characteristic points of this object in the previous and respectively current images, - calculating a local descriptor ( D ( P p ( i)); D ( P c ( j))) for each of the characteristic points extracted, - quantifying the dissimilarity between the descriptor of each point in the first set of points and the descriptor of each point in the second set of points, - forming pairs of matched points ( C ( i, j)) for each point in the first set of points according to the dissimilarities between descriptors thus quantified, each pair of matched points associating a point in the first set of points with a point in the second set of points, - estimating the parameters of a model of movement of the object between the two images from pairs of matched points thus formed. Wherein the step of estimating the parameters of the movement model is preceded by a step of selecting the pairs of matched points used to estimate the parameters of the movement model, during which said pairs of matched points are solely selected from those that relate to points in the first set of points that are singular, each point in the first set of points being a singular point, characterized in that: - firstly, if the smallest dissimilarity between the descriptor of this point in the first set of points and the descriptor of a point in the second set of points is less than a predetermined threshold, and - the points in the second set of points that relate to this point in the first set of points being ordered by increasing dissimilarity in order to form a list P c i of ordered points, if, secondly, there exists an index K i of this list such that the dissimilarity ( DIS └ D ( P p ( i), D ( P c ( j))┘) is less than a predetermined value and this index K i is such that the difference between the dissimilarity between the point ( P p ( i)) in the first set of points and the point P c i K i and the point in the second set points that relates to this index K i, and the dissimilarity between the point in the first set of points and the point ( P c ( K i + 1)) in the second set of points that relates to the index that follows the index K i, is above a predetermined threshold. - forming a first set of points ( E p = { P p,..., P p ( i),..., P p}), and respectively a second set ( E c = { P c,..., P c ( i),..., P c}), by extracting characteristic points of this object in the previous and respectively current images, - calculating a local descriptor ( D ( P p ( i)); D ( P c ( j))) for each of the characteristic points extracted, - quantifying the dissimilarity between the descriptor of each point in the first set of points and the descriptor of each point in the second set of points, - forming pairs of matched points ( C ( i, j)) for each point in the first set of points according to the dissimilarities between descriptors thus quantified, each pair of matched points associating a point in the first set of points with a point in the second set of points, - estimating the parameters of a model of movement of the object between the two images from pairs of matched points thus formed. - firstly, if the smallest dissimilarity between the descriptor of this point in the first set of points and the descriptor of a point in the second set of points is less than a predetermined threshold, and - the points in the second set of points that relate to this point in the first set of points being ordered by increasing dissimilarity in order to form a list P c i of ordered points, if, secondly, there exists an index K i of this list such that the dissimilarity ( DIS └ D ( P p ( i), D ( P c ( j))┘) is less than a predetermined value and this index K i is such that the difference between the dissimilarity between the point ( P p ( i)) in the first set of points and the point P c i K i and the point in the second set points that relates to this index K i, and the dissimilarity between the point in the first set of points and the point ( P c ( K i + 1)) in the second set of points that relates to the index that follows the index K i, is above a predetermined threshold.