A method for locating utensils involves (step a) measuring, by magnetometers, of the amplitude of the magnetic field, and (step b) estimating, with the magnetometer measurements the positions, orientations and amplitudes of the magnetic moments of the objects of the utensils. The method also includes (step c) detecting each immobile utensil and, in response, adding the immobile utensil to a list, and (step d) establishing measurements from the magnetometers when they are exclusively in the presence of a reference magnetic field generated only by magnetic objects of all the immobile utensils in the list of immobile utensils. The method further includes (step e) calculating the amplitude of a disturbance on the basis of the differences between the measurements performed in step a) and the measurements established in step d). If the amplitude of the disturbance crosses a predetermined threshold, step b) is executed, otherwise the method returns to step a).