Fig. 1. Geometric meanings of the object-space error and image-space error

Fig. 2. Simulation of the number of reference points. (a) Mean value of rotation error; (b) mean value of translation error; (c) median value of rotation error; (d) median value of translation error

Fig. 3. Simulation of noise level. (a) Mean value of rotation error; (b) mean value of translation error; (c) median value of rotation error; (d) median value of translation error

Fig. 4. Localization error distribution experiment results. (a) Localization error using improved SVD orthogonalization method; (b) localization error using improved SVD orthogonalization + WHLM method; (c) difference between Fig. 4(a) and Fig. 4(b)

Fig. 5. Schematic image of real experimental environment