Fig. 1. Principle of camouflage system for flat background and fixed camera

Fig. 2. Principle of camouflage system for depth-changing background and movable observer

Fig. 3. Defects in camouflage point set image. (a) Original image taken by camera; (b) camouflage point set image with defects

Fig. 4. Principle of camouflage point calculation process

Fig. 5. Camouflage experimental device and calibration results. (a) Camouflage experimental device; (b) calibration results for camouflage experimental device

Fig. 6. Brief working logic of experimental system

Fig. 7. Calibration methods for markers on camera and outside field of view. (a) Method with auxiliary camera and calibration plate; (b) method for adjusting camera field of view with mirror

Fig. 8. Calibration results of background camera-camouflage screen. (a) Images taken by background camera; (b) images taken by auxiliary camera (markers are reprojected positions of calibrated points); (c) calibration results (brighter camera is reference camera)

Fig. 9. Calibration results of observer detection camera-camouflage screen. (a) Images taken by background camera (markers are reprojected positions of calibrated points); (b) scene structures of single image; (c) calibration results (brighter camera is reference camera)

Fig. 10. Reprojection errors of calibration results. (a) Reprojection errors of background camera-camouflage screen calibration; (b) reprojection errors of observer detection camera-camouflage screen calibration

Fig. 11. Camouflage effects of scene 1. (a) Structure of scene 1; (b) camouflage effects taken from different angles; (c) camouflage effects taken from comparative method

Fig. 12. Camouflage effects of scene 2. (a) Structure of scene 2; (b) camouflage effects from different angles; (c) camouflage effects of comparative method

Fig. 13. Algorithm execution time stability