1. A method for detecting new objects ( 1 ) in a scene ( 3 ) illuminated by lights that are not necessarily controlled, the scene being observed by means of at least one sensor, such as a video camera, capable of delivering a succession of images; within the meaning of the present invention, lights that are not necessarily controlled are defined as lights produced by artificial illumination or natural illumination, the said method comprising: the stage of detecting and of producing the said images in the form of electrical signals at successive instants, the stage of digitizing the obtained electrical signals and of producing digital image data, especially pixels, at successive instants, the stage of storing the said digital image data, the stage of estimating the nature of an object ( 1 ) and the trajectory and changes in attitude of the object ( 1 ); the said stage for estimating the nature of an object ( 1 ) and the trajectory and changes in attitude of the object ( 1 ) including the stage of extracting, from the said successive images, primitives and/or calottes which are not very sensitive to the illumination conditions and are suitable for being used for efficient discrimination between light spots and objects ( 1 ). Branch 1 :