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Yes that is correct. Easiest way is probably to work with the homogeneous 4x4 Tranform Matrix($T$) composed of $\begin{bmatrix}R & t\\0 & 1\end{bmatrix}$. Then your new pose is then just $T_i$ multiplied by $\Delta T_{i+1}^{i}$(relative transform). For every new relative transform just do this concatenation. So $T_{i+1}=T_i*\Delta T_{i+1}^{i}$ Note:...

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That's simple. If you use matlab or opengl what you need to do is just drawing 3 axis at (tx,ty,tz). You need to convert quaternion to rotation matrix. (qx,qy,qz,qw) -> R(3x3 matrix) where each col of R is the axis you need. The axis just a line segment where it start from (tx,ty,tz) and end at (tx+rx,ty+ry,tz+rz). There are libraries for quaternion ...

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I think your big problem is that in the worst case, the characters on your number plates are only a few pixels wide, and the script really doesn't look ideal for OCR anyway. Camera resolution By my calculations, at the top of each frame the resolution is around 6mm/pixel (assuming a 7m wide highway which is 1200 pixels wide at that point in the image). A ...

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The problem is called perspective-n-point. And has the answer in the Wikipedia article. 6 unknowns. 3 for rotation and 3 for translation. Each perspective measurement provides 2 points of information. (x,y) in pixels. $\frac{6}{2}$ is 3.

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