1. A method for recovering pose parameters of an optical apparatus that images space points P i onto an optical sensor, said method comprising the steps of: a) recording electromagnetic radiation from said space points P i on said optical sensor at measured image coordinates {circumflex over (x)} i ,ŷ i of measured image points {circumflex over (p)} i =({circumflex over (x)} i ,ŷ i ); b) determining a structural uncertainty in said measured image points {circumflex over (p)} i =({circumflex over (x)} i ,ŷ i ); c) selecting a reduced representation of said measured image points {circumflex over (p)} i =({circumflex over (x)} i ,ŷ i ) by rays {circumflex over (r)} i defined in homogeneous coordinates and contained in a projective plane of said optical apparatus based on said structural uncertainty; and d) estimating at least one of said pose parameters with respect to a canonical pose by a reduced homography H using said rays {circumflex over (r)} i .