Algorithm 1: Pose estimation based on consistent line clustering and planes intersection
Input:	The image pair $\langle I_1,I_2\rangle$, the two camera matrices $P_1$, $P_2$, and the initial pose constraint.
Output:	The 3D position and 3D attitude of the straight wing aircraft.
Step 1	Extract line features in image pairs using the LSD algorithm;
Step 2	Locate the center of the aircraft in the 2D images and cluster spatially consistent line segments;
Step 3	Rule out line segments shorter than a certain threshold;
Step 4	Classify line segments into orientation-consistent clusters, extract the directions of the fuselage and the wings in the image pair, and re-estimate the center of the aircraft;
Step 5	Calculate the 3D attitude and 3D location using the plane–plane intersection method.