diff --git a/modules/python/bindings/include/vision.hpp b/modules/python/bindings/include/vision.hpp
index eaef9011bf..a18078554a 100644
--- a/modules/python/bindings/include/vision.hpp
+++ b/modules/python/bindings/include/vision.hpp
@@ -50,6 +50,18 @@ void bindings_vpPose(py::class_<vpPose, std::shared_ptr<vpPose>> &pyPose)
    [](vpPose &self, vpPose::vpPoseMethodType method, vpHomogeneousMatrix &cMo) -> bool {
      return self.computePose(method, cMo);
   });
+
+  pyPose.def_static("computePlanarObjectPoseFromRGBD",
+   [](const vpImage<float> &depthMap, const std::vector<vpImagePoint> &corners,
+      const vpCameraParameters &colorIntrinsics,
+      const std::vector<vpPoint> &point3d) -> std::tuple<bool, vpHomogeneousMatrix, double> {
+        double confidence = 0.0;
+        vpHomogeneousMatrix cMo;
+        bool valid = vpPose::computePlanarObjectPoseFromRGBD(depthMap, corners, colorIntrinsics, point3d, cMo, &confidence);
+        return std::make_tuple(valid, cMo, confidence);
+  });
+
+
 }
 
 
diff --git a/modules/python/config/vision.json b/modules/python/config/vision.json
index acae54766e..a620749033 100644
--- a/modules/python/config/vision.json
+++ b/modules/python/config/vision.json
@@ -28,7 +28,15 @@
       ]
     },
     "vpPose": {
-      "additional_bindings": "bindings_vpPose"
+      "additional_bindings": "bindings_vpPose",
+      "methods": [
+        {
+          "static": true,
+          "signature": "bool computePlanarObjectPoseFromRGBD(const vpImage<float>&, const std::vector<vpImagePoint>&, const vpCameraParameters&, const std::vector<vpPoint>&, vpHomogeneousMatrix&, double*)",
+          "ignore": true,
+          "custom_implem": true
+        }
+      ]
     }
   }
 }