1. A method comprising: capturing one image of a planar object with a mobile platform, the planar object comprising a first set of parallel lines that are perpendicular to a second set of parallel lines; detecting the planar object in the one image; defining a first axis for a world coordinate system using a first vanishing point for the first set of parallel lines and defining a second axis for the world coordinate system using a second vanishing point for the second set of parallel lines; recovering a camera rotation using the first axis and the second axis; generating a reference patch of at least a portion of the one image of the planar object using the camera rotation that is recovered; and comparing the reference patch to additional captured images of the planar object to estimate a pose of the mobile platform with respect to the planar object.