[4] MURPHY-CHUTORIAN E, TRIVEDI M M.Head pose estimation in computer vision:a survey［J］. IEEE Tran-sactions on Pattern Analysis and Machine Intelligence, 2009, 31(4): 607-626.

[11] ABDEL-AZIZ Y I, KARARA H M, HAUCK M. Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry［J］. Photogrammetric Engineering & Remote Sensing, 2015, 81(2):103-107.

[12] LEPETIT V, MORENO-NOGUER F, FUA P. EPnP:an accurate O(n) solution to the PnP problem［J］.International Journal of Computer Vision, 2009, 81(2):155-166.

[13] LU C P, HAGER G D, MJOLSNESS E.Fast and globally convergent pose estimation from video images［J］. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(6):610-622.