Fig. 1. Overall network framework

Fig. 2. Structure of finder pattern of QR code

Fig. 3. Illustration of transformation from pixel coordinate system to world coordinate system

Fig. 4. Illustration of transformation from image coordinate system to camera coordinate system

Fig. 5. Illustration of geometric relationship between hyper-parameters

Fig. 6. Effects of Z on coordinate value changing under different coordinate systems when the input point is (212,266)

Fig. 7. Restored images with the mixed distortions

Fig. 8. Comparison of recognition rate of different cylindrical restoration algorithms

Fig. 9. Qualitative comparisons of different cylindrical restoration algorithms