1. A 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; acquiring a first image representing the object in a particular initial position; creating a first key frame comprising from the first image acquired and the relative pose of the object in its environment; acquiring 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; determining 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 creating at least one second key frame comprising the acquired at least one second image and the relative pose of the object in its environment determined as a function of the difference of the viewpoints of the first image and said at least one second image wherein each viewpoint associated with the first image is different from each viewpoint associated with the second image.