remaining pose hypotheses are then subjected to pose refinement stage 106 initiated at step 220 and detailed in the following description of fig3 the best pose hypothesis now provided in each of the cameras in the distributed aperture system at the end of preemptive ransac stage 104 are passed to pose refinement stage 106 and a polishing routine is implemented in accordance with the steps illustrated in the flowchart of fig3 at step 302 the best scoring hypothesis from each camera is received and then transferred at step 304 to each of the other cameras in the distributed aperture system the best cumulative scoring hypotheses provided to each of the cameras in the distributed aperture system are then polished at step 306 where iterative minimization of a robust cost function derived from the cauchy distribution of reprojection errors is performed through the levenberg marquardt method therefore for each camera the best cumulative scoring hypothesis is polished not only on the camera from which it originated but also on all the cameras in the distributed aperture system the cumulative scores of these polished hypotheses in each camera are computed at step 308 and the best cumulative scoring hypothesis from among all the polished hypotheses in each camera is determined at step.