Add to ORKGNational audienceThis paper proposes a real-time , robust and efficient 3D model-based tracking algorithm for a monocular vision system. Non-linear pose computation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different features. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Furthermore, it is verified with visua...