  We tackle the problem of getting a full 6-DOF pose estimation of a query
image inside a given point cloud. This technical report re-evaluates the
algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point
Cloud". Our code computes poses from 3 or 4 points, with both known and unknown
focal length. The results can easily be displayed and analyzed with Meshlab. We
found both advantages and shortcomings of the methods proposed. Furthermore,
additional priors and parameters for point selection, RANSAC and pose quality
estimate (inlier test) are proposed and applied.
