function [t, R] = estimation_pose(t4, R4, w1, w2)

    d = size(w1, 1);
    Q = zeros(3, d);

    counts = zeros(4, 1);
    for j=1:4
        for i=1:d
            A = [ -R4(:,:,j) * w1(i,:)' , w2(i,:)'];
            b =  t4(:,j);
       
            Z = A \ b;
            if Z(1) > 0 && Z(2) > 0
                counts(j) = counts(j) + 1;
            end
        end
    end

    [~, indice] = max(counts);
    t = t4(:, indice);
    R = R4(:, :, indice);

end