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Pose estimation of a small cube shape marker

Hi, I would like to estimate the pose of a needle, looks like a thin cylinder. I think it is hard to directly estimate the pose of the needle. So I want to attach a small cubic marker on one end of the needle. Assume I know the transform between the needle and the cubic marker, to find the pose the needle, I just need to estimate the pose of the cubic marker. Of course, if anybody can give me suggestions about directly estimating the pose of the needle without a marker, I would really appreciate!

To estimate the pose of the cubic marker, I can put different image on each side of the cube. This method looks like multi-targets of Vuforia, but I want to implement it from scratch.

I think the steps looks like the follows: calculate features of each image offline (totally six images)

then, for each frame, 1. detect the bounding box of the small cubic marker on the image 2. online calculate the features such as SIFT inside the detected bounding box 3. match the online feature with the offline features to find correspondence 4. calculate homography then the relative pose

I am not sure if the above steps are OK. Any suggestions are really appreciated.

Thanks a lot.