“…For features-based pose calculation, there are many mature methods, including Perspective-n-Point (PnP) methods [ 22 , 23 , 24 , 25 ] and Perspective-n-Line (PnL) [ 26 , 27 , 28 ] methods. For the disc cutter holder positioning, Peng proposes a PnP method that aims to minimize the sum of the chamfering distances [ 29 , 30 ], which must intersect the corresponding feature lines to obtain the feature points. However, in practice, each extracted edge may not be complete, resulting in additional errors in the process of finding the intersection points.…”