A method and software for the simultaneous pose and points-correspondences determination from a planar model are disclosed. The method includes using a coarse pose estimation algorithm to obtain two possible coarse poses, and using each one of the two coarse poses as the initialization of the extended TsPose algorithm to obtain two candidate estimated poses; selecting one from the two candidate estimated poses based on the cost function value. Thus, The method solves the problem of pose redundancy in the simultaneous pose and points-correspondences determination from a planar model, i.e., the problem that the numbers of estimated poses increase exponentially as the iterations go. The disclosed embodiment is based on the coplanar points, and does not place restriction on the shape of a planar model. It performs well in a cluttered and occluded environment, and is noise-resilient in the presence of different levels of noise.