Fig. 1. Schematic diagram of monocular attitude measurement

Fig. 2. Eye calibration model

Fig. 3. Relationship between output angle of inclinometer and euler angle

Fig. 4. Correlation coordinate system relationship of inclinometer

Fig. 5. Experimental device diagram

Fig. 6. A partial checkerboard image collected

Fig. 7. Calibration error line chart of pitch angle and roll angle

Fig. 8. (a) Two images from the checkerboard position near +15°; (b) Two images from the checkerboard position near +5°; (c) Two images from the checkerboard position near −15°

Fig. 9. (a) The measured value and true value of pitch angle; (b) Measured value and true value of roll angle

Fig. 10. [in Chinese]

Fig. 10. (a) Pitch angle measurement error line chart; (b) Roll angle measurement error line chart; (c) Pitch angle measurement relative error line chart; (d) Roll angle measurement relative error line chart

Fig. 11. The line chart of measured distance and two inclination errors