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A new method is presented for reasoning with constraints on the three orientation parameters of an object which arise from the identification of features discovered in a single image. The method uses a geometrical model of the object and a tetrahedral representation of view-direction. The final angle parameter, the roll angle, is computed for each view direction. This method is subject to errors from the data and the assumptions inherent in the use of view directions. These errors are takendoi:10.5244/c.3.3 dblp:conf/bmvc/WorrallBS89 fatcat:om4neebcwrbpjdgcy5b42v3lwq