Fig. 1. Composition of relative posture relations of characteristic lines

Fig. 2. Sub-station images from sequence images. (a) Sub-station 1; (b) sub-station 2

Fig. 3. Comparison of pose results between classified linear analysis methods and proposed method. (a) Comparison of yaw angle; (b) comparison of pitch angle; (c) comparison of roll angle

Fig. 4. Relationship between attitude angle error and endpoint location error. (a) Relationship between yaw angle error and endpoint location error; (b) relationship between endpoint location error and k variation

Fig. 5. Effect of inaccuracy of direction vector on attitude angle error