1. A method of rendering pixels of an image of a scene comprising a first object and at least a second object, a depth map being associated with the scene according to a point of view, at least a part of the first object and at least a part of the at least a second object being visible from the point of view associated with the depth map through a set of elements of the depth map, the first object and the at least a second object being modelled with surface elements, the method comprising: from depth information associated with a point of the scene visible through a first element of said set of elements of the depth map, from depth information associated with said first element and from depth information associated with the other elements, called second elements, of said set of elements, establishing a line associated with a direction associated with the frontier between the first object and the at least a second object, said line having as origin a corner of said set of elements located at an opposite side of a shadow generated by said first object on the depth map; projecting orthogonally selected vertices of said surface elements visible through said set of elements onto said line, the selected vertices corresponding to the vertices having a normal vector oriented toward said line; establishing a frontier between the first object and the at least a second object according to information representative of locations of the projected selected vertices onto said line and distances between the locations of the projected selected vertices and corresponding selected vertices; and rendering pixels of said image of the scene associated with said depth map, the rendering of the pixels representing the first object and the at least second object being performed according to the established frontier.