Fig. 1. Measurement system

Fig. 2. Camera coordinates system correction. (a) Before correction; (b) after correction

Fig. 3. Results of simulation experiment. (a)(b) Residual value with varying noise; (c)(d) residual value with varying roll angle error; (e)(f) residual value with varying pitch angle error

Fig. 4. Results of line matching. (a)(b) Matching results of 1^st frame and 5^th frame; (c)(d) matching results of 1^st frame and 10^th frame

Fig. 5. Results of point matching. (a) 1^st frame; (b) 10^th frame

Fig. 6. Results of point-line matching. (a) 1^st frame; (b) 10^th frame

Fig. 7. Track maps of camera movement. (a)(b) 3D view; (c)(d) X-Y view; (e)(f) X-Z view; (g)(h) Y-Z view