Model matching

You can minimize the 2D distances between the model lines (projected
with the previous position) and the lines detected in the image.
Here are some usefull links.
http://svr-www.eng.cam.ac.uk/~gswk2/
http://cvlab.epfl.ch/research/augm/augmented.php
http://mi.eng.cam.ac.uk/~twd20/