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 is perpendicular to a second set of parallel lines; detecting a plurality of sets of lines in the one image, each set of lines in the plurality sets of lines have a same direction in three dimensional space; identifying the first set of parallel lines that is perpendicular to the second set of parallel lines in the plurality of sets of lines using vanishing points to detect 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.