US Patent 7613323 Method and apparatus for determining camera pose

A method and apparatus for determining camera pose characterized by six degrees of freedom (e.g., for use in computer vision systems) is disclosed. In one embodiment an image captured by the camera is received, and at least two constraints on the potential pose are enforced in accordance with known relations of the image to the camera, such that the potential pose is constrained to two remaining degrees of freedom. At least one potential pose is then determined in accordance with the remaining two degrees of freedom.