between the world coordinate system and the camera coordinate system. This
transformation is represented by a 3 × 4 matrix, consisting of a 3 × 3 rotation matrix
and a translation vector as shown in Eq. (2).
a solution to Perspective-n-Point (PnP) problem . It is about the estimation of
the pose of a calibrated camera, given n (n ≥ 3) 3D reference points in the object
framework and their corresponding 2D projections. This estimation should be
accurate enough for correct augmentation.
camera coordinate system is obtained by Eq. (3). Both points are expressed in
homogeneous coordinates according to a pinhole calibrated camera model.