Methods and systems for determining the pose of a camera with respect to at least one object of a real environment

[0033]In FIGS. 3, 4 and 5 there is shown a schematic illustration of an embodiment of a system and an exemplary scenery according to the invention. Particularly, FIG. 3 shows a system 1 in which a user (not shown) holds a mobile device 10 which incorporates or is coupled with a camera 11 for generating at least one image 30 of the real world, for example containing the real objects 31, 32 as shown. According to a particular example, the real objects 31, 32 may be a table and a cabinet which are placed in a room having a ground plane 35, and the camera 11 takes an image of the real environment to be displayed on a display screen 20. The ground plane itself could also be considered to be a real object. After determining the pose, the real environment is provided with a coordinate system 33, such as shown in FIG. 3. Further, the camera 11 is coupled with an image displaying means 20, such as a touchscreen that is incorporated in the mobile device 10. However, any other image displaying me