Table 2.

Quantitative results on synthetic data achieved through calibration using $N=3$ measurements. The best results are indicated in bold. We choose this measurement count for parity with the methodology proposed in [22]. In [22], a single measurement is deemed sufficient for calibration determination, with 3 measurements considered the optimal scenario. Beyond 3 measurements, accuracy does not improve significantly. Both for our study and in alignment with the findings in [27], 3 measurements represents the minimum requirement for solution determination, and an increase in this count is expected to result in more precise outcomes. Our results show that with our minimum number of measurements, we perform on par with [22] on rotation while outperforming all methods on translation using small commercial tags.

Method	${\mathit{e}}_{\mathit{t}}$ (cm)	${\mathit{e}}_{\mathit{r}}$ (${10}^{-2}$ rad)
Beltrán et al. [22]	0.82	0.24
Kim et al. [27]	10.2	129.56
Ours	0.11	0.25