Fig. 1. Structure diagram of Cartesian 3D printer

Fig. 2. Schematic diagram of camera installation

Fig. 3. Schematic diagram of coordinate transformation

Fig. 4. Flow chart of coordinate transformation

Fig. 5. Infrared calibration target

Fig. 6. Target in infrared image

Fig. 7. Principle of continuous pose measurement

Fig. 8. Reference of WCS

Fig. 9. Full image corner detection

Fig. 10. Section diagram of nozzle structure

Fig. 11. Schematic diagram of printing trajectories

Fig. 12. Cross section diagram of printing trajectories

Fig. 13. Projection of trajectory model

Fig. 14. Infrared image of normal printing process

Fig. 15. Experimental equipment

Fig. 16. Reprojection error in printing process

Fig. 17. Infrared image in printing process of cylinder inner and outer wall

Fig. 18. High temperature area and IoU in normal printing process

Fig. 19. Infrared image of misalignment printing process

Fig. 20. High temperature area and IoU in misalignment printing process

Fig. 21. Infrared image of insufficient printing process

Fig. 22. High temperature area and IoU in insufficient extrusion printing

Fig. 23. Infrared image of excessive printing process

Fig. 24. High temperature area and IoU in excessive extrusion printing