Fig. 1. Schematic of camera imaging

Fig. 2. Schematic of noise verification experiment of independent estimation method

Fig. 3. Estimation results of rotation angles from camera coordinate system to world coordinate system.(a)Angle α rotated along X_C axis; (b) angle β rotated along Y_C axis; (c) angle γ rotated along Z_C axis

Fig. 4. Movement distances δT of each capture position relative to previous capture position

Fig. 5. Schematic of scanning direction calibration

Fig. 6. Calibration results of direction vector based on joint estimation and independent estimation in 10 repeated experiments. (a) V_Cx; (b) V_Cy; (c) V_Cz

Fig. 7. Validation experiment of calibration method. (a) Schematic of calibration experiment; (b) picture of experiment platform

Fig. 8. Point cloud of gage blocks’ surfaces. (a) Point cloud based on joint estimation; (b) point cloud based on independent estimation

Fig. 9. Measurement error of gage block size in 10 repeated experiments