Fig. 1. Geometric meaning of object residuals and image residuals in camera pose estimation

Fig. 2. (a) Rotation matrix error and (b) translation vector error with different numbers of reference points

Fig. 3. Calculation time of different algorithms with different number of reference points

Fig. 4. (a) Rotation matrix error and (b) translation vector error of different distance between space reference point center and camera

Fig. 5. (a) Rotation matrix error and (b) translation vector error of different distance between space reference point center and camera optical axis

Fig. 6. Real image experiment device structure

Fig. 7. Result of re-projection in image points