this post also contributes to the post at Step by Step Camera Pose Estimation for Visual Tracking and Planar Markers by Jav_Rock (since I cannot add any comment there and I don't know why)
It can be seen that the translation vector 1x3 and rotation matrix 3x3 can be derived from homography matrix. However, the following question is: - where are the camera coordinate system and object coordinate system and how are they attached to the camera (or object)?? - there is the relative transformation between the two but the computation from homography or transformation matrix implies nothing about these coordinate systems' location & direction
Then, how to solve the pose estimation problem??