Fig. 1. Target calibration field and self-coding marker

Fig. 2. Automatic coding of marker. (a) Automatic coding of internal code for self-coding marker; (b) automatic coding of external code in target calibration field

Fig. 3. Geometrical structure of combined camera

Fig. 4. Automatic coding of markers

Fig. 5. Relative orientation elements among cameras. (a) Relative position elements for cameras 1 and 2; (b) relative position elements for cameras 2 and 3; (c) relative position elements for cameras 3 and 4; (d) relative linear elements for cameras 4 and 5; (e) relative angular elements for cameras 1 and 2; (f) relative angular elements for cameras 2 and 3; (g) relative angular elements for cameras 3 and 4; (h) relative angular elements for cameras 4 and 5

Table 1. Internal and external codes for coding markers

Table 2. Calculation of rotation angle α

Table 3. Root-mean-square error of checking points by method A

Table 4. Root-mean-square error of checking points by method B