Fig. 1. Schematic diagrams of image planes before and after translation (dashed quadrilateral represents original image plane, and blue quadrilateral represents image plane after translation)

Fig. 2. Schematic diagrams of image planes before and after rotation (white quadrilateral represents image plane after translation, and gray quadrilateral represents image plane after rotation)

Fig. 3. Diagram of temperature change experimental system

Fig. 4. Relationship among camera internal temperature, temperature control box temperature, indoor temperature, and time

Fig. 5. Relationship between change of each parameter and temperature in experiment 2. (a) du0; (b) dv0; (c) dfu; (d) dfv; (e) α; (f) β; (g) γ

Fig. 6. Relationship between two equivalent focal length changes and camera internal temperature. (a)(b) Experiment 1;

Fig. 7. Regression results of Gaussian processes. (a) du0; (b) dv0; (c) dfu; (d) dfv; (e) α; (f) β; (g) γ

Fig. 8. Histograms of image point drifts before and after compensation of four groups of experiments. (a) Linear regression; (b) neural network; (c) support vector regression; (d) decision tree regression; (e) Gaussian process regression

Fig. 9. Diagram of outdoor experiment system

Fig. 10. Change curves of temperature and image point coordinates with time in outdoor experiment 1

Fig. 11. Displacement error distributions before and after compensation. (a) Experiment 2; (b) experiment 3