Fig. 1. Mean rotation and translation errors varies with number of reference points

Fig. 2. Histogram of number of iterations for weight coefficient

Fig. 3. Mean rotation and translation errors varies with noise levels

Fig. 4. Results of angle of attack with two methods

Fig. 5. Differences of measured angle of attack with two methods

Fig. 6. Re-projection results of image plane

Fig. 7. Convergence process of the weight coefficients