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Model-based Estimation for Pose, Velocity of Projectile from Stereo Linear Array Image The pose (position and attitude) and velocity of in-flight projectiles have major influence on the performance and accuracy. A cost-effective method for measuring the gun-boosted projectiles is proposed. The method adopts only one linear array image collected by the stereo vision system combining a digital line-scan camera and a mirror near the muzzle. From the projectile's stereo image, the motion parameters (pose and velocity) are acquired by using a model-based optimization algorithm. The algorithm achieves optimal estimation of the parameters by matching the stereo projection of the projectile and that of the same size 3D model. The speed and the AOA (angle of attack) could also be determined subsequently. Experiments are made to test the proposed method.