Algorithm 1. Pose Estimation

Obtain the image sampled on the detector array

Compute $x_{est}$, $y_{est}$, $z_{est}$, ${\theta }_{est}$ and ${\psi }_{est}$

Update $y_{est}$ based on $x_{est}$, ${\theta }_{est}$ and ${\psi }_{est}$

Update $z_{est}$ based on $x_{est}$, ${\theta }_{est}$ and ${\psi }_{est}$

Return $x_{est}$, $y_{est}$, $z_{est}$, ${\theta }_{est}$ and ${\psi }_{est}$