Iterative pose estimation using coplanar points

A new method is presented for the computation of the position and orientation of a camera with respect to a known object, using four or more coplanar feature points. Starting under the scaled orthographic projection approximation, this method iteratively refines up to two different pose estimates, and provides associated quality measures. When the distance of the object to the camera is large, or when the accuracy of the feature point extraction is low, both pose estimates are plausible