1. A method of recovering pose parameters of an optical apparatus, said method comprising the steps of: a) imaging a plurality of space points as measured imaged points on an optical sensor of said optical apparatus; b) determining a structural redundancy in said measured image points due to a conditioned motion of said optical sensor; c) employing a reduced representation of said measured image points as a plurality of rays in homogeneous coordinates in a projective plane of said optical sensor, said reduced representation being consonant with said conditioned motion; and d) estimating at least one pose parameter with respect to a canonical pose of said optical apparatus by employing said reduced representation.