“…{𝐾 } = {𝐾 (1) , 𝐾 (2) , 𝐾 (3) , 𝐾 (4) } {𝑘} = { 𝑘 (1) 1 ,𝑘 (1) 2 ,𝑘 (1) 3 ,𝑘 (2) 1 ,𝑘 (2) 2 ,𝑘 (2) 3 ,𝑘 (3) 1 ,𝑘 (3) 2 ,𝑘 (3) 3 ,𝑘 (4) 1 ,𝑘 (4) 2 ,𝑘 (4) 3 } { 𝑝} = { 𝑝 (1) 1 , 𝑝 (1) 2 , 𝑝 (2) 1 , 𝑝 (2) 2 , 𝑝 (3) 1 , 𝑝 (3) 2 , 𝑝 (4) 1 , 𝑝 (4) 2 } {[𝑅 𝑗 𝑇 𝑗 ]} = {[𝑅 (1) 𝑗 𝑇 (1) 𝑗 ],[𝑅 (2) 𝑗 𝑇 (2) 𝑗 ],[𝑅 (3) 𝑗 𝑇 (3) 𝑗 ], [𝑅 (4) 𝑗 𝑇 (4) 𝑗 ]} 𝑚 𝑗 𝑘 = [𝑢 (1) 𝑗 𝑘 , 𝑣 (1) 𝑗 𝑘 , 1, 𝑢 (2) 𝑗 𝑘 , 𝑣 (2) 𝑗 𝑘 , 1, 𝑢 (3) 𝑗 𝑘 , 𝑣 (3) 𝑗 𝑘 , 1, 𝑢 (4) 𝑗 𝑘 , 𝑣 (4) 𝑗 𝑘 , 1] 𝑇 𝑀 𝑘 = [𝑥 (𝑤) 𝑘 ,𝑦 (𝑤) 𝑘 ,1,𝑥 (𝑤) 𝑘 ,𝑦 (𝑤) 𝑘 ,1,𝑥 (𝑤) 𝑘 ,𝑦 (𝑤) 𝑘 ,1,𝑥 (𝑤) 𝑘 ,𝑦 (𝑤) Experimental results: We used our 2 × 2 infrared camera array and constant temperature heating checkboard for calibration experiments. We rotate and translate the checkboard to obtain 15 different poses.…”