Fig. 1. Schematic diagram of polarizer angle

Fig. 2. Pose measurement model

Fig. 3. Experimental system of pose measurement

Fig. 4. Experimental results of corner points extraction

Fig. 5. Images collected at each position on the condition of optimal polarization angle

Fig. 6. Mean reprojection errors of rotation measurement experiments

Fig. 7. Error distribution of natural light and optimal polarization angle

Fig. 8. Experimental results of angle measurement

Fig. 9. Mean reprojection errors of translation measurement experiments

Fig. 10. Experiment results of displacement measurement errors