POSIT tutorial Pose Estimation JavierBarandiaran In this tutorial we will see how to estimate the pose of a 3d object in a single image using the function cvPOSIT. This function implements the POSIT algorithm (DeMenthon & Davis 1995). Also we will make some tests and see the result of the algorithm using OpenGL. The pose M of a 3d object is a combination of its orientation R (a 3d rotation matrix)