Fig. 1. Calibration flow chart

Fig. 2. Diagram of epipolar geometry

Fig. 3. Diagram of BA optimization

Fig. 4. Diagram of rotation axis calibration

Fig. 5. Diagram of PnP algorithm

Fig. 6. Diagram of camera calibration

Fig. 7. Diagram of multicamera error optimization

Fig. 8. Experimental device diagram

Fig. 9. Result of axis circle fitting

Fig. 10. Comparison of multicamera external parameter calibration. (a) Yaw; (b) pitch; (c) roll; (d) t_x direction; (e) t_y direction; (f) t_z direction

Fig. 11. Reprojection error of multicamera system calibration

Fig. 12. Large-scale measurement experimental device diagram

Fig. 13. Schematic diagram of the position of camera i

Fig. 14. Roundness error

Fig. 15. Model of PnP algorithm

Fig. 16. Reconstruction of checkerboard experimental device diagram

Fig. 17. Reprojection error of PnP algorithm. (a) h=1000 mm; (b) h=1500 mm; (c) h=2000 mm; (d) h=2500 mm

Fig. 18. External parameter calibration model of binocular camera

Fig. 19. Attitude error results. (a) Yaw direction; (b) pitch direction; (c) roll direction

Fig. 20. Position error results. (a) t_x direction; (b) t_y direction; (c) t_z direction