A method for estimating the movement of a carrier with respect to an environment relative to which said carrier is moving, the carrier embedding at least one navigation sensor and at least one vision sensor producing 2D images of the environment, characterised in that it includes the steps of: - identifying, in images acquired by the vision sensor, characteristic elements of the images representing characteristic elements of the environment, - calculating at least one condensed measurement based on characteristic elements of a triplet of images acquired at different times, the at least one condensed measurement being representative of characteristics of the movement of the carrier during the acquisition of the images of said triplet, the at least one condensed measurement being representative: ∘ of a ratio of the distances travelled by the carrier between the acquisition times of two pairs of images of said triplet, determined based on characteristic elements of the images of the triplet representing characteristic elements of the environment which are visible on each of the three images of said triplet, and/or ∘ of a direction of displacement of the carrier or a normalised relative pose between the acquisition times of a pair of images of the triplet, determined based on characteristic elements of this pair of images representing characteristic elements of the environment which are visible on each of the two images of this pair, - estimating the movement by an estimation filter, called "navigation filter", based on navigation measurements made by the navigation sensor and based on the at least one condensed measurement. - identifying, in images acquired by the vision sensor, characteristic elements of the images representing characteristic elements of the environment, - calculating at least one condensed measurement based on characteristic elements of a triplet of images acquired at different times, the at least one condensed measurement being representative of characteristics of the movement of the carrier during the acquisition of the images of said triplet, the at least one condensed measurement being representative: ∘ of a ratio of the distances travelled by the carrier between the acquisition times of two pairs of images of said triplet, determined based on characteristic elements of the images of the triplet representing characteristic elements of the environment which are visible on each of the three images of said triplet, and/or ∘ of a direction of displacement of the carrier or a normalised relative pose between the acquisition times of a pair of images of the triplet, determined based on characteristic elements of this pair of images representing characteristic elements of the environment which are visible on each of the two images of this pair, ∘ of a ratio of the distances travelled by the carrier between the acquisition times of two pairs of images of said triplet, determined based on characteristic elements of the images of the triplet representing characteristic elements of the environment which are visible on each of the three images of said triplet, and/or ∘ of a direction of displacement of the carrier or a normalised relative pose between the acquisition times of a pair of images of the triplet, determined based on characteristic elements of this pair of images representing characteristic elements of the environment which are visible on each of the two images of this pair, - estimating the movement by an estimation filter, called "navigation filter", based on navigation measurements made by the navigation sensor and based on the at least one condensed measurement. <EOS>