“…Hence, derivation of the CRLB is summarized as follows. Define the calibration scenario, that is, define c, s i , m j , s • k , m • l , x R , x t and ξ. Compute s k and m l , using the rigid motion in (1). Let x group x R , x t , and ξ. Compute all linearly independent r i,j,l , using (9), and group them into r m .…”