The paper concerns 2D-3D pose estimation in the algebraic language of kinematics. The pose estimation problem is modelled on the base of several geometric constraint equations. In that way the projective geometric aspect of the topic is only implicitly represented and thus, pose estimation is a pure kinematic problem. The dynamic measurements of these constraints are either points or lines. The authors propose the use of motor algebra to introduce constraint equations, which keep a natural distance measurement, the Hesse distance. The motor algebra is a degenerate geometric algebra in which line transformations are linear ones. The experiments aim to compare the use of different constraints and different methods of optimal estimating the pose parameters.