Fig. 1. Imaging model of central perspective projection

Fig. 2. Correlation coefficient between translation component and equivalent focal length of camera varying with focal length. (a) Translation component in x direction; (b) translation component in y direction

Fig. 3. Standard concentric semi-circular cooperative template

Fig. 4. Cooperative concentric semi-elliptical template after projective transformation

Fig. 5. Perspective projection imaging model of 3D lines

Fig. 6. Flow chart of calibration algorithm

Fig. 7. RMS of relative error of calibration parameters of camera (f=20 mm) under different number of calibration views. (a) F_x; (b) C_x

Fig. 8. RMS of relative error of calibration parameters of camera (f=20 mm) under different noise level. (a) F_x; (b) C_x

Fig. 9. RMS of relative error of calibration parameters of camera (f=100 mm) under different number of calibration views. (a) F_x; (b) C_x

Fig. 10. RMS of relative error of calibration parameters of camera (f=100 mm) under different noise level. (a) F_x; (b) C_x

Fig. 11. RMS of relative error of camera calibration parameters under different focal lengths. (a) F_x; (b) C_x

Fig. 12. Detection results of concentric elliptical template

Fig. 13. Typical reconstruction results of stereo telephoto camera plane template. (a) Reconstructed 3D checkerboard points and fitted plane; (b) error distribution of reconstructed plane