System and method for image capture device pose estimation

A method for estimating a plurality of image capture device poses, comprising:

• using at least one hardware processor executing a code for:
• extracting a plurality of observed image features of a plurality of landmarks from a plurality of images captured by at least one image capture device from at least one pose, said plurality of landmarks calibrated with respect to a certain coordinate system;
• identifying among said plurality of observed image features at least one observed image feature documented in at least some of said images;
• producing image feature scale values of said at least one common observed image feature by analyzing said at least some of said images;
• determining a plurality of estimated poses of said at least one image capture device with respect to said certain coordinate system by using said image feature scale values in calculating a minimal re-projection error between said plurality of observed image features and a plurality of predicted image features;
• and
• outputting said plurality of estimated poses.