A new mono-vision algorithm to measure pose based on line features,called SoftNewton,is proposed.The new evaluating function for the matches between image lines and object lines is constructed,which avoids detecting the lines endpoints in image.The algorithm applies Soft-Assign technique to determining the correspondence of lines feature between image and object.Futhermore,GaussNewton iterative algorithm,that computes object pose under a full-perspective camera model,keeps the rotation matrix orthogonal and...