Algorithm 2 Calculating the Error in the Net Pose Estimation of the 3D Grid Board

Detect tvecs of Tags    //tvecs represent array of translations of the origin of detected tags in for i = 0 to length(tvecs)                //camera’s coordinate frame for j = 0 to length(tvecs) deviation_distance[i] += (distance(tvecs[i] – tvecs[j])) //calculate distance between transformed                //tag centers end for end for filtered_tvecs = remove_detections_with_high_deviation (tvecs, deviation_distance) volume = (get_max_x(filtered_tvecs)–get_min_x(filtered_tvecs)) *  // get min and get max functions (get_max_y(filtered_tvecs)–get_min_y(filtered_tvecs)) *  // return the min and max tvecs       (get_max_z(filtered_tvecs)–get_min_z(filtered_tvecs)) // along each axis