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Pose estimation is used for different applications like indoor positioning, simultaneous localization and mapping (SLAM), industrial measurement and robot calibration. For industrial applications several approaches dealing with the subject of pose estimation employ photogrammetric methods. Cameras which observe an object from a given point of view are utilized as well as cameras which are firmly mounted on the object that is to be oriented. Since it is not always possible to create andoi:10.5194/isprsarchives-xxxviii-3-w22-97-2011 fatcat:b5hv4tghabbwjeybgklnwtndku