Fig. 1. Schematic of affine approximate projection model and perspective projection model

Fig. 2. Schematic of pose ambiguity of planar object associated with weak perspective projection

Fig. 3. Schematic of concentric semi-circular template attached with a cylindrical control point

Fig. 4. Relative error of calibration parameters of the camera (focal length f =20 mm) under different number of calibration views. (a) F_x; (b) C_x

Fig. 5. Relative error of calibration parameters of the camera (f =20 mm) under different levels of image noise. (a) F_x; (b) C_x

Fig. 6. Relative error of calibration parameters of the camera (f =100 mm) under different number of calibration views. (a) F_x; (b) C_x

Fig. 7. Relative error of calibration parameters of the camera (f =100 mm) under different levels of image noise. (a) F_x; (b) C_x

Fig. 8. Relative error of camera calibration parameters under different focal lengths. (a) F_x; (b) C_x

Fig. 9. Concentric semi-circular template attached with a cylindrical control point and typical detection result. (a) Concentric semi-circular template; (b) typical detection result

Fig. 10. Planar template reconstruction results corresponding to output parameters of different calibration methods. (a) 3D checkerboard points and fitting plane reconstructed by Weak method; (b) plane error of reconstruction by Weak method; (c) 3D checkerboard points and fitting plane reconstructed by Para method; (d) plane error of reconstruction by Para method