From c4552e04e1271a9210a934233beae5be1943d034 Mon Sep 17 00:00:00 2001
From: Théo de la Hogue
Date: Wed, 7 Jun 2023 14:34:14 +0200
Subject: Writing User guide and use cases section.

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 .../aruco_markers/markers_pose_estimation.md         | 20 ++++++++++++++++++++
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 create mode 100644 docs/user_guide/aruco_markers/markers_pose_estimation.md

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diff --git a/docs/user_guide/aruco_markers/markers_pose_estimation.md b/docs/user_guide/aruco_markers/markers_pose_estimation.md
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+Markers pose estimation
+=======================
+
+After marker detection, it is possible to estimate markers pose in camera axis.
+
+![Pose estimation](../../img/pose_estimation.png)
+
+``` python
+# Estimate markers pose
+aruco_detector.estimate_markers_pose()
+
+# Get pose estimation related to each detected markers
+for marker_id, marker in aruco_detector.detected_markers.items():
+
+       print(f'marker {marker_id} translation: ', marker.translation)
+       print(f'marker {marker_id} rotation: ', marker.rotation)
+
+       # Do something with each marker pose estimation
+       ...
+```
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