1. Method for visual tracking of at least one object represented by a cluster of points with which information is associated, wherein the method includes steps to: receive (E1) data representing a set of space-time events from an asynchronous sensor (90); determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set; determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set; update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, a position of the at least one object being updated as a function of the position at a previous time of the at least one object and the event determined at the previous step as belonging to the cluster of points representing the at least one object; calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.