One of the most important problems in computer vision is the computation of the two-dimensional projective transformation (homography) that maps features of planar objects in different images and videos. This computation is required by many applications such as image mosaicking, image registration, and augmented reality. The real-time performance imposes constraints on the methods used. In this paper, we address the real-time detection and tracking of planar objects in a video sequence where the object of interest is given by a reference image template. Most existing approaches for homography estimation are based on two steps: feature extraction (first step) followed by a combinatorial optimization method (second step) to match features between the reference template and the scene frame. This paper has two main contributions. First, we detect both planar and nonplanar objects via efficient object feature classification in the input images, which is applied prior to performing the matching step. Second, for the tracking part (planar objects), we propose a fast method for the computation of the homography that is based on the transferred object features and their associated local raw brightness. The advantage of the proposed schemes is a fast matching as well as fast and robust object registration that is given by either a homography or three-dimensional pose.