Our study discusses the application of the perspective grid concept as the basis for the process of transforming the 2D coordinates of the image into 3D coordinates in real space for estimating the location of objects in a single image scene. In several other studies in the field of robotics, AR use methods and media in the form of a chessboard box as a reference for camera calibration and location estimation. However, it does not show accurate results for the size of objects in the room. We saw the potential areas of Alberti's perspective grid, which is often used as a reference in making sketches for the arts and various engineering fields so that they are visually precise with reality. Our study uses 6 reference points in a room arrangement with a floor grid pattern as a reference for the formation of a perspective grid. Based on the triangle comparison approach to determine the x-ordinate, the average error is 0.2193. And through 3 interpolation approaches to get the most accurate results with the Lagrange and Newton methods on the 6th order with the average difference between the actual and predicted points of 1.5 cm from the y-direction distance of the camera from 2 meters to 6.80 meters.