A computer-implemented method for estimating a pose of an articulated object model, wherein the articulated object model is a computer based 3D model of a real world object observed by one or more source cameras, and the articulated object model represents a plurality of joints and of links that link the joints, and wherein the pose of the articulated object model is defined by the spatial location of the joints, the method comprising the steps of • obtaining at least one source image from a video stream comprising a view of the real world object recorded by a source camera; • processing the at least one source image to extract a corresponding source image segment comprising the view of the real world object separated from the image background; • maintaining, in a database in computer readable form, a set of reference silhouettes, each reference silhouette being associated with an articulated object model and with a particular reference pose of this articulated object model; • comparing the at least one source image segment to the reference silhouettes and selecting a predetermined number of reference silhouettes by taking into account, for each reference silhouette, ∘ a matching error that indicates how closely the reference silhouette matches the source image segment and ∘ a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object as estimated from at least one of preceding and following source images of the video stream; • retrieving the reference poses of the articulated object models associated with the selected of reference silhouettes; and • computing an estimate of the pose of the articulated object model from the reference poses of the selected reference silhouettes. • obtaining at least one source image from a video stream comprising a view of the real world object recorded by a source camera; • processing the at least one source image to extract a corresponding source image segment comprising the view of the real world object separated from the image background; • maintaining, in a database in computer readable form, a set of reference silhouettes, each reference silhouette being associated with an articulated object model and with a particular reference pose of this articulated object model; • comparing the at least one source image segment to the reference silhouettes and selecting a predetermined number of reference silhouettes by taking into account, for each reference silhouette, ∘ a matching error that indicates how closely the reference silhouette matches the source image segment and ∘ a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object as estimated from at least one of preceding and following source images of the video stream; ∘ a matching error that indicates how closely the reference silhouette matches the source image segment and ∘ a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object as estimated from at least one of preceding and following source images of the video stream; • retrieving the reference poses of the articulated object models associated with the selected of reference silhouettes; and • computing an estimate of the pose of the articulated object model from the reference poses of the selected reference silhouettes.