1. Method of automatic creation of at least two initialization key frames each comprising an image representing at least one three-dimensional object in a three-dimensional environment and the pose of the object in that environment according to the associated image viewpoint, this method being characterized in that it comprises the following steps: acquisition of a first image representing the object in a particular initial position; creation of a first key frame from the first image acquired and the relative pose of the object in its environment; acquisition of at least one second image representing said object, the viewpoint of said at least one second image being different from the viewpoint of said first image; determination of the relative pose of the object in its environment according to the difference of the viewpoints of the first image and said at least one second image, each of said viewpoints being determined relative to position and orientation parameters, at least one of said parameters being determined independently of said images; and creation of said at least one second key frame from the acquired at least one second image and the relative pose of the object in its environment.