diff --git a/modules/python/bindings/include/rbt.hpp b/modules/python/bindings/include/rbt.hpp
index b918ec0826..293729d423 100644
--- a/modules/python/bindings/include/rbt.hpp
+++ b/modules/python/bindings/include/rbt.hpp
@@ -37,6 +37,9 @@
 
 #include "rbt/feature_tracker.hpp"
 #include "rbt/vo.hpp"
+#include "rbt/drift.hpp"
+#include "rbt/mask.hpp"
+
 
 
 
diff --git a/modules/python/bindings/include/rbt/drift.hpp b/modules/python/bindings/include/rbt/drift.hpp
new file mode 100644
index 0000000000..e478b3e5ff
--- /dev/null
+++ b/modules/python/bindings/include/rbt/drift.hpp
@@ -0,0 +1,67 @@
+
+#ifndef VISP_PYTHON_RBT_DRIFT_HPP
+#define VISP_PYTHON_RBT_DRIFT_HPP
+
+#include <visp3/rbt/vpRBDriftDetector.h>
+#include <pybind11/pybind11.h>
+
+
+class TrampolineRBDriftDetector : public vpRBDriftDetector
+{
+public:
+  using vpRBDriftDetector::vpRBDriftDetector;
+
+  TrampolineRBDriftDetector() : vpRBDriftDetector() { }
+
+  virtual void update(const vpRBFeatureTrackerInput &previousFrame, const vpRBFeatureTrackerInput &frame, const vpHomogeneousMatrix &cTo, const vpHomogeneousMatrix &cprevTo)
+  {
+    pybind11::gil_scoped_acquire gil;  // Acquire the GIL while in this scope.
+    // Try to look up the overridden method on the Python side.
+    pybind11::function override = pybind11::get_override(this, "update");
+    if (override) {  // method is found
+      // Pybind seems to copy the frames, so we pass the pointers
+      override(&previousFrame, &frame, &cTo, &cprevTo);
+    }
+  }
+
+  virtual double getScore() const VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE_PURE(
+      double,               /* Return type */
+      vpRBDriftDetector,    /* Parent class */
+      getScore,             /* Name of function in C++ (must match Python name) */
+      );
+  }
+
+  virtual bool hasDiverged() const VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE_PURE(
+      double,                 /* Return type */
+      vpRBDriftDetector,      /* Parent class */
+      hasDiverged,            /* Name of function in C++ (must match Python name) */
+      );
+  }
+
+  virtual void display(const vpImage<vpRGBa> &I) VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE_PURE(
+      void,                   /* Return type */
+      vpRBDriftDetector,      /* Parent class */
+      display,                /* Name of function in C++ (must match Python name) */
+      I
+    );
+  }
+
+
+#if defined(VISP_HAVE_NLOHMANN_JSON)
+  virtual void loadJsonConfiguration(const nlohmann::json &) VP_OVERRIDE
+  {
+
+  }
+#endif
+
+};
+
+
+
+#endif
diff --git a/modules/python/bindings/include/rbt/mask.hpp b/modules/python/bindings/include/rbt/mask.hpp
new file mode 100644
index 0000000000..0499c3b19c
--- /dev/null
+++ b/modules/python/bindings/include/rbt/mask.hpp
@@ -0,0 +1,50 @@
+
+#ifndef VISP_PYTHON_RBT_MASK_HPP
+#define VISP_PYTHON_RBT_MASK_HPP
+
+#include <visp3/rbt/vpObjectMask.h>
+#include <visp3/core/vpImage.h>
+#include <pybind11/pybind11.h>
+
+
+class TrampolineObjectMask : public vpObjectMask
+{
+public:
+  using vpObjectMask::vpObjectMask;
+
+  TrampolineObjectMask() : vpObjectMask() { }
+
+  virtual void updateMask(const vpRBFeatureTrackerInput &frame,
+                          const vpRBFeatureTrackerInput &previousFrame,
+                          vpImage<float> &mask) VP_OVERRIDE
+  {
+    pybind11::gil_scoped_acquire gil;  // Acquire the GIL while in this scope.
+    // Try to look up the overridden method on the Python side.
+    pybind11::function override = pybind11::get_override(this, "updateMask");
+    if (override) {  // method is found
+      // Pybind seems to copy the frames, so we pass the pointers
+      override(&frame, &previousFrame, &mask);
+    }
+  }
+
+  virtual void display(const vpImage<float> &mask, vpImage<unsigned char> &Imask) const VP_OVERRIDE
+  {
+    PYBIND11_OVERRIDE_PURE(
+      void,             /* Return type */
+      vpObjectMask,     /* Parent class */
+      display,          /* Name of function in C++ (must match Python name) */
+      mask, Imask
+    );
+  }
+
+#if defined(VISP_HAVE_NLOHMANN_JSON)
+  virtual void loadJsonConfiguration(const nlohmann::json &) VP_OVERRIDE
+  {
+
+  }
+#endif
+};
+
+
+
+#endif
diff --git a/modules/python/config/rbt.json b/modules/python/config/rbt.json
index de5ff591aa..fb024e4adc 100644
--- a/modules/python/config/rbt.json
+++ b/modules/python/config/rbt.json
@@ -267,6 +267,12 @@
     "vpRBVisualOdometry": {
       "trampoline": "TrampolineRBVisualOdometry"
     },
+    "vpRBDriftDetector": {
+      "trampoline": "TrampolineRBDriftDetector"
+    },
+    "vpObjectMask": {
+      "trampoline": "TrampolineObjectMask"
+    },
     "vpObjectCentricRenderer": {
       "methods": [
         {