Fig. 1. Composition diagram of the four-axis vision coordinate measuring system

Fig. 2. Specially designed cuboid block

Fig. 3. Cuboid block after orientation adjustment

Fig. 4. Image acquisition of the left edge of cuboid block

Fig. 5. Image acquisition of the right edge of cuboid block

Fig. 6. Calculation principle of X₀ and Y₀

Fig. 7. Calculation principle of Z₀

Fig. 8. Four-axis vision coordinate measuring system

Fig. 9. Orientation adjustment of the cuboid block

Fig. 10. Focusing on the cuboid block surface and capturing the image of its sharp edges

Fig. 11. Images of the sharp edges and edge extraction results: (a) Left edge; (b) Right edge; (c) Upper edge

Fig. 12. Experimental scene