This paper presents a method based on the virtual visual servoing approach [10] to achieve markerless augmented reality applications. This work aims to realize this task using as little prior 3D information as possible. Virtual visual servoing techniques that lead to a non-linear minimization approach allow one to estimate the 2D transformation between two images of a video sequence which permits to achieve augmented reality on this sequence. Thanks to the work that has already been carried out in this domain, the presented method is efficient and robust wrt. noise and occlusions. It allows very realistic augmented videos with minimum knowledge about the real environment.