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-192.01200 (ph) 4.98936 (ysical) -191.01200 (point) -192.01700 (and) -190.98300 (its) -191.98800 (coor) 19.99670 (\055) ] TJ -113.82400 -13.26090 Td [ (dinates) -213.98100 (i) 0.98758 (n) -213.99900 (camera) ] TJ /R32 9.96260 Tf 71.11910 0 Td [ (k) -0.60039 ] TJ /R26 9.96260 Tf 5.50000 0 Td [ (\047) 55.00800 (s) -213.99900 (reference) -213.00900 (system) ] TJ /R22 9.96260 Tf 77.75390 0 Td [ (r) -0.70086 ] TJ /R42 6.97380 Tf 5.26719 -1.49492 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 7.66914 1.49492 Td [ (\075) -278.78700 (\050) -0.90181 ] TJ /R32 9.96260 Tf 14.39100 0 Td [ (X) -0.49992 ] TJ /R42 6.97380 Tf 8.25391 -1.49492 Td [ (k) -0.30107 ] TJ /R32 9.96260 Tf 4.90078 1.49492 Td [ (\073) -167.79100 (Y) -0.59794 ] TJ /R42 6.97380 Tf 10.21210 -1.49492 Td [ (k) -0.30107 ] TJ /R32 9.96260 Tf 4.90195 1.49492 Td [ (\073) -167.79100 (Z) -0.60284 ] TJ /R42 6.97380 Tf 11.22890 -1.49492 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 4.90117 1.49492 Td [ (\051) -0.90181 ] TJ /R42 6.97380 Tf 3.87500 5.00898 Td [ (T) -0.79819 ] TJ /R26 9.96260 Tf -229.97400 -16.96520 Td [ (is) -445.01200 (gi) 24.98850 (v) 14.98280 (en) -446.00400 (by) -445.01400 (the) -445.01600 (linear) -445.99700 (relationship) ] TJ /R22 9.96260 Tf 146.86800 0 Td [ (r) -0.70086 ] TJ /R42 6.97380 Tf 5.26680 -1.49375 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 4.90195 1.49375 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87422 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58594 0 Td [ (\051) -639.90800 (\075) -640.80500 (R) -0.09802 ] TJ /R42 6.97380 Tf 31.69880 -1.49375 Td [ (k) -0.30107 ] TJ /R22 9.96260 Tf 4.90117 1.49375 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 9.24102 0 Td [ (\053) -0.80379 ] TJ /R22 9.96260 Tf 11.40390 0 Td [ (c) -0.40189 ] TJ /R42 6.97380 Tf 5.11484 -1.49375 Td [ (k) -0.30107 ] TJ /R26 9.96260 Tf 4.90195 1.49375 Td (\056) Tj -233.75900 -11.95470 Td [ (Assuming) -423.01800 (a) -424.01300 (pinhole) -422.99800 (camera) -424.01700 (model) -423.00300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R26 9.96260 Tf 1 0 0 1 461.65900 457.37200 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R26 9.96260 Tf 1 0 0 1 471.62100 457.37200 Tm [ (\135\054) -466.98100 (the) -423.99800 (unkno) 25 (wn) ] TJ /R22 9.96260 Tf 67.90470 0 Td [ (r) -0.70086 ] TJ /R26 9.96260 Tf -230.66400 -11.95510 Td [ (w) 10 (ould) -310.98500 (\226) -311.00200 (under) -311 (ideal) -310.99700 (circumstances) -310.98200 (\226) -311.00200 (be) -311.98700 (obser) 0.99003 (v) 14.00260 (ed) -311.00700 (by) -310.99700 (cam\055) ] TJ 11.95510 TL (era) ' /R32 9.96260 Tf 14.27110 0 Td [ (k) -0.60039 ] TJ /R26 9.96260 Tf 7.60820 0 Td [ (as) -212.00100 (a) -210.98900 (feature) -212.01100 (point) -210.99400 (with) -211.97900 (homogeneous) -211.01900 (pix) 14.99750 (el) -211.99900 (coordinates) ] TJ /R22 9.96260 Tf -21.87930 -14.60980 Td (u) Tj /R42 6.97380 Tf 6.78516 -1.49531 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90117 1.49531 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87500 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58477 0 Td [ (\051) -278.90900 (\075) -278.78400 (\050) -0.90181 ] TJ /R32 9.96260 Tf 21.03200 0 Td [ (x) -0.49992 ] TJ /R42 6.97380 Tf 5.69414 -1.49531 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90195 1.49531 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87383 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58633 0 Td [ (\051) -0.90181 ] TJ /R32 9.96260 Tf 3.87383 0 Td [ (\073) -167.78800 (y) -0.30142 ] TJ /R42 6.97380 Tf 9.31289 -1.49531 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90117 1.49531 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87500 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58477 0 Td [ (\051) -0.90181 ] TJ /R32 9.96260 Tf 3.87500 0 Td [ (\073) -0.79889 ] TJ /R40 9.96260 Tf 4.42812 0 Td [ (1\051) -278.90400 (\075) -0.80379 ] TJ /R44 9.96260 Tf 22.13910 11.05780 Td [ <10> -0.20095 ] TJ /R42 6.97380 Tf 7.14492 -6.22695 Td [ (X) -0.89621 ] TJ /R46 4.98130 Tf 6.53398 -1.05703 Td (k) Tj /R34 6.97380 Tf 4.35508 1.05703 Td [ (\050) -0.39909 ] TJ /R48 6.97380 Tf 3.11289 0 Td [ (r) -0.90321 ] TJ /R34 6.97380 Tf 4.47305 0 Td [ (\051) -0.39909 ] TJ ET Q 3.98000 w 0 G 4362.31000 4213.43000 m 4578.19000 4213.43000 l S q 10 0 0 10 0 0 cm BT /R42 6.97380 Tf 1 0 0 1 436.78400 415.41600 Tm [ (Z) -0.39909 ] TJ /R46 4.98130 Tf 5.42812 -1.05703 Td (k) Tj /R34 6.97380 Tf 4.35508 1.05703 Td [ (\050) -0.39909 ] TJ /R48 6.97380 Tf 3.11406 0 Td [ (r) -0.90321 ] TJ /R34 6.97380 Tf 4.47266 0 Td [ (\051) -0.39909 ] TJ /R32 9.96260 Tf 4.86133 3.43594 Td [ (\073) -0.80379 ] TJ /R42 6.97380 Tf 5.99570 4.83203 Td [ (Y) -0.49712 ] TJ /R46 4.98130 Tf 4.68320 -1.05703 Td (k) Tj /R34 6.97380 Tf 4.35508 1.05703 Td [ (\050) -0.39909 ] TJ /R48 6.97380 Tf 3.11367 0 Td [ (r) -0.90321 ] TJ /R34 6.97380 Tf 4.47305 0 Td [ (\051) -0.39909 ] TJ ET Q 4646.38000 4213.43000 m 4851.21000 4213.43000 l S q 10 0 0 10 0 0 cm BT /R42 6.97380 Tf 1 0 0 1 464.63800 415.41600 Tm [ (Z) -0.39909 ] TJ /R46 4.98130 Tf 5.42930 -1.05703 Td (k) Tj /R34 6.97380 Tf 4.35469 1.05703 Td [ (\050) -0.39909 ] TJ /R48 6.97380 Tf 3.11328 0 Td [ (r) -0.90321 ] TJ /R34 6.97380 Tf 4.47305 0 Td [ (\051) -0.39909 ] TJ /R32 9.96260 Tf 4.30898 3.43594 Td [ (\073) -0.80379 ] TJ /R40 9.96260 Tf 4.42773 0 Td (1) Tj /R44 9.96260 Tf 4.98125 11.05820 Td [ <11> -0.20095 ] TJ /R26 9.96260 Tf 5.95000 -11.05820 Td (\056) Tj -180.85900 -14.39100 Td [ (In) -216 (reality) -215.98800 (\226) -217.01800 (due) -215.99800 (to) -215.99100 (noisy) -216.01300 (observ) 24.99090 (ations) -216.99800 (\226) -215.99800 (camera) ] TJ /R32 9.96260 Tf 185.70400 0 Td [ (k) -0.59794 ] TJ /R26 9.96260 Tf 7.65508 0 Td [ (will) -216.01800 (ob\055) ] TJ -205.31400 -11.95510 Td [ (serv) 14.98030 (e) -301.01300 (a) -301.01300 (feature) -299.99700 (at) -301.00600 (coordinates) ] TJ /R40 9.96260 Tf 121.95700 0.13828 Td (\176) Tj /R22 9.96260 Tf -0.90195 -0.13828 Td (u) Tj /R42 6.97380 Tf 6.78477 -1.49375 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 8.60703 1.49375 Td [ (\075) -372.81000 (\050) -63.88640 (\176) ] TJ /R32 9.96260 Tf 15.32810 0 Td [ (x) -0.49992 ] TJ /R42 6.97380 Tf 5.69375 -1.49375 Td [ (k) -0.30107 ] TJ /R32 9.96260 Tf 4.90117 1.49375 Td [ (\073) -0.80379 ] TJ /R40 9.96260 Tf 5.11211 0 Td (\176) Tj /R32 9.96260 Tf -0.68398 0 Td [ (y) -0.29897 ] TJ /R42 6.97380 Tf 4.88477 -1.49375 Td [ (k) -0.30107 ] TJ /R32 9.96260 Tf 4.90117 1.49375 Td [ (\073) -0.80379 ] TJ /R40 9.96260 Tf 4.42812 0 Td [ (1\051) -0.90181 ] TJ /R26 9.96260 Tf 11.85270 0 Td [ (rather) -301.01300 (than) ] TJ -192.86500 -11.95470 Td [ (the) -215.99600 (ideal) -215.01300 (coordinates) ] TJ /R22 9.96260 Tf 83.91290 0 Td (u) Tj /R42 6.97380 Tf 6.78516 -1.49414 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90195 1.49414 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87383 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58633 0 Td [ (\051) -0.90181 ] TJ /R26 9.96260 Tf 3.87383 0 Td [ (\056) -299.00400 (The) -215.01800 (corresponding) -216.00800 (single) -214.99800 (vie) 24.98600 (w) ] TJ /R30 9.96260 Tf -108.93400 -11.95510 Td [ (r) 37.01830 (epr) 45.01940 (ojection) -250.01000 (err) 44.98020 (or) ] TJ /R32 9.96260 Tf 74.23010 0 Td [ <0d> -0.70086 ] TJ /R42 6.97380 Tf 5.15781 -1.49492 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90195 1.49492 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87500 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58516 0 Td [ (\051) -0.90181 ] TJ /R26 9.96260 Tf 6.36484 0 Td [ (for) -249.99700 (camera) ] TJ /R32 9.96260 Tf 45.36020 0 Td [ (k) -0.59794 ] TJ /R26 9.96260 Tf 7.98984 0 Td (is) Tj /R32 9.96260 Tf -85.31600 -24.52190 Td [ <0d> -0.70086 ] TJ /R42 6.97380 Tf 5.15820 -1.49414 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90195 1.49414 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87383 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58594 0 Td [ (\051) -0.90181 ] TJ /R36 6.97380 Tf 6.97305 6.11797 Td [ (4) -0.89621 ] TJ /R40 9.96260 Tf -0.33203 -6.11797 Td [ (\075) -0.80379 ] TJ /R38 9.96260 Tf 10.51600 0 Td (k) Tj /R40 9.96260 Tf 5.88320 0.13789 Td (\176) Tj /R22 9.96260 Tf -0.90117 -0.13789 Td (u) Tj /R42 6.97380 Tf 6.78516 -1.49414 Td [ (k) -0.30107 ] TJ /R38 9.96260 Tf 7.11484 1.49414 Td [ <00> -0.80379 ] TJ /R22 9.96260 Tf 9.96328 0 Td (u) Tj /R42 6.97380 Tf 6.78398 -1.49414 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 4.90195 1.49414 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87500 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58477 0 Td [ (\051) -0.90181 ] TJ /R38 9.96260 Tf 3.87500 0 Td (k) Tj /R32 9.96260 Tf 6.64102 0 Td [ (\073) -0.80379 ] TJ /R26 9.96260 Tf 59.30000 0 Td (\0501\051) Tj -224.63300 -21.03320 Td (where) Tj /R38 9.96260 Tf 26.82890 0 Td (k) Tj /R32 9.96260 Tf 4.98086 0 Td [ (\072) -0.79889 ] TJ /R38 9.96260 Tf 2.76797 0 Td (k) Tj /R26 9.96260 Tf 7.47227 0 Td [ (is) -249.98500 (a) -250.00200 (suitably) -249.99700 (chosen) -249.98300 (norm\056) ] TJ -30.09490 -11.95510 Td [ (Man) 14.99010 (y) -305.98300 (methods) -305.01000 (in) -306.01500 (literature) -306.01300 (quantify) -306.00300 (the) -304.99800 (single) -306.00300 (vie) 24.98600 (w) -305.98300 (re\055) ] TJ -11.95510 -11.95470 Td [ (projection) -299.01900 (error) -299.01900 (in) -298.99700 (term) 0.99248 (s) -299.00400 (of) -299.00900 (the) ] TJ /R32 9.96260 Tf 127.98000 0 Td [ (\140) -0.70086 ] TJ /R34 6.97380 Tf 4.15078 -1.49531 Td [ (2) -0.49712 ] TJ /R26 9.96260 Tf 7.44688 1.49531 Td [ (norm\054) -310.98700 (i\056e\056) -457.01200 (the) -299 (e) 1.01454 (uclidean) ] TJ -139.57800 -11.95510 Td [ (distance) -221.98500 (between) -221.99500 (the) -221.99500 (measurement) -222.01200 (and) -221.99700 (the) -221.99200 (reprojection) -222.02200 (of) -222.00200 (a) ] TJ 11.95630 TL T* [ (h) 4.98446 (ypothesized) -232.98800 (location\056) -303.99800 (In) -233.02000 (this) -232.99500 (paper) 39.99330 (\054) -237.01400 (we) -232.98100 (will) -232.99500 (ho) 24.98600 (we) 25.01540 (v) 14.98280 (er) -232.99100 (adopt) ] TJ 11.95470 TL (the) ' /R32 9.96260 Tf 14.66480 0 Td [ (\140) -0.70086 ] TJ /R36 6.97380 Tf 4.15117 -1.49414 Td [ (1) -0.89971 ] TJ /R26 9.96260 Tf 10.93090 1.49414 Td (norm\072) Tj /R32 9.96260 Tf 1.86914 -23.52500 Td [ <0d> -0.70086 ] TJ /R42 6.97380 Tf 5.15781 -1.49492 Td [ (k) -0.29757 ] TJ /R40 9.96260 Tf 4.90195 1.49492 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87422 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58477 0 Td [ (\051) -0.90181 ] TJ /R36 6.97380 Tf 6.97422 6.11797 Td [ (4) -0.89971 ] TJ /R40 9.96260 Tf -0.33203 -6.11797 Td [ (\075) -278.78400 (m) -0.29897 (ax) -0.80134 (\050) -0.89936 ] TJ /R38 9.96260 Tf 32.93200 0 Td [ (j) -0.79889 ] TJ /R40 9.96260 Tf 3.40078 0 Td (\176) Tj /R32 9.96260 Tf -0.63281 0 Td [ (x) -0.49992 ] TJ /R42 6.97380 Tf 5.69375 -1.49492 Td [ (k) -0.30107 ] TJ /R38 9.96260 Tf 7.11523 1.49492 Td [ <00> -0.80379 ] TJ /R32 9.96260 Tf 9.96289 0 Td [ (x) -0.49992 ] TJ /R42 6.97380 Tf 5.69414 -1.49492 Td [ (k) -0.30107 ] TJ /R40 9.96260 Tf 4.90195 1.49492 Td [ (\050) -0.90181 ] TJ /R22 9.96260 Tf 3.87383 0 Td [ (r) -0.70086 ] TJ /R40 9.96260 Tf 5.58516 0 Td [ (\051) -0.90181 ] TJ /R38 9.96260 Tf 3.87500 0 Td [ (j) -0.80379 ] TJ /R32 9.96260 Tf 2.76719 0 Td [ (\073) -0.80379 ] TJ /R38 9.96260 Tf 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