Fig. 1. Coordinate systems and imaging model. (a) Relation among three coordinate systems; (b) pinhole imaging model

Fig. 2. T-type photoelectric theodolite imaging model. (a) Positive image; (b) inverted image

Fig. 3. T-type photoelectric theodolite for pole vertex imaging diagram. (a) Positive image; (b) reversed image

Fig. 4. Flow chart of proposed overall algorithm

Fig. 5. Performance with noise level on detection accuracy. (a) t_z, t_y; (b) g, h, c_x, c_y

Fig. 6. Performance with t_x on detection accuracy. (a) t_z, t_y; (b) g, h, c_x, c_y

Fig. 7. Performance with near station pole distance on detection accuracy. (a) t_z, t_y; (b) g, h, c_x, c_y

Fig. 8. Picture of T-type photoelectric theodolite

Fig. 9. Captured images of station poles. (a) Near station pole under positive image; (b) near station pole under reversed image; (c) far station pole under positive image; (d) far station pole under reversed image

Fig. 10. Reprojection error distribution. (a) Before optimization; (b) after optimization