VISUAL MODEL OF AN OBJECT IS PRESENTED AS COMPOSITION OF A MODEL - SHAPE FUNCTION AND A MODEL- PATTERN FUNCTION. NON - UNIFORMITY OF PATTERN IS DEFINED AS A QUADRATIC FORM RELATED TO THE GRADIENT OF INTENSITY. FOR A PLANAR MODEL IT IS PROVED THAT A MORE PRECISE ESTIMATION REPONDS TO A GEATER NON- UNIFORMITY. THIS IS APPLIED TO DEVELOP A CLASS OF SINGLE - VIEW 3- D POSE ESTIMOTORS EXPLORING EXTREMELY NON- UNIFORM PATTERNS. THE ESTIMATORS ARE OF HIGH PRECISION, FAST, ROBUST, AND ALGORITHMICALLY SIMPLE. POSSIBLE APPLICATION IS SPACECRAFT DOCKING, OR ANY ROBOT PROBLEM PERMITING USAGE OF A VISUAL MARK (TARGENT) ON REMOTE OBJECT.VISUAL MODEL OF AN OBJECT IS PRESENTED AS COMPOSITION OF A MODEL - SHAPE FUNCTION AND A MODEL- PATTERN FUNCTION. NON - UNIFORMITY OF PATTERN IS DEFINED AS A QUADRATIC FORM RELATED TO THE GRADIENT OF INTENSITY. FOR A PLANAR MODEL IT IS PROVED THAT A MORE PRECISE ESTIMATION REPONDS TO A GEATER NON- UNIFORMITY. THIS IS APPLIED TO DEVELOP A CLASS OF SINGLE - VIEW 3- D POSE ESTIMOTORS EXPLORING EXTREMELY NON- UNIFORM PATTERNS. THE ESTIMATORS ARE OF HIGH PRECISION, FAST, ROBUST, AND ALGORITHMICALLY SIMPLE. POSSIBLE APPLICATION IS SPACECRAFT DOCKING, OR ANY ROBOT PROBLEM PERMITING USAGE OF A VISUAL MARK (TARGENT) ON REMOTE OBJECT.