Fig. 1. Thermal imaging mode with Tian-shaped four-aperture

Fig. 2. Tian-shaped four-aperture infrared biomimetic compound eye imaging experimental system

Fig. 3. Tilt relationship between sub apertures

Fig. 4. Pixel and image coordinate system

Fig. 5. Camera coordinate system

Fig. 6. Rotation and translation of 3d coordinate systems

Fig. 7. Imaging process of four-aperture compound eye system

Fig. 8. Three views of the transformation relationship between camera-1 coordinate system and world coordinate system

Fig. 9. Principle of inverse imaging optical path positioning

Fig. 10. Calibration images captured by four-aperture system

Fig. 11. Schematic diagram of distance measurement

Fig. 12. Experimental image of spatial target positioning

Fig. 13. Principle of four-aperture positioning algorithm

Fig. 14. Experimental images of 9 circular holes positioning