Patent ID: 8903177

Claim:
A method of hybrid tracking a representation of at least one object in a sequence of images using at least one key image, the method being implemented on a computer, and comprising the following steps: acquisition of a first and second images of said sequence of images including a representation of said at least one object; identification of at least one first image portion of said first image, said at least one first image portion of said first image including at least one part of a representation of said at least one object; retrieval of at least one second image portion from said at least one key image, said at least one second image portion of said key image including at least one part of a representation of said at least one object; estimation of a relative pose of at least one first image portion of said second image, similar to said at least one first image portion of said first image, according to said at least one first image portion of said first image; search for at least one second image portion of said second image, similar to said at least one second image portion of said key image, the step of searching including a step of re-projecting the at least one second image portion of said key image according to an estimated pose of the at least one object, and estimation of a relative pose of said at least one object according to the relative poses of said first image portions and said second image portions.