| Algorithm 1. Logic of omnidirectional camera pose estimation algorithms. |
| 1. Data acquisition. Extract corner point u and obtain its coordinate in the world coordinate system Xw |
| 2. Determine camera. Determine the number and location of virtual cameras |
| 3. Coordinate transformation. Convert corner coordinate to virtual image plane coordinate. |
| 4. Calculate Xvir. Use modified EPNP algorithm to calculate virtual camera coordinate Xvir. |
| 5. Coordinate transformation. Convert virtual camera coordinate to camera coordinate. |
| 6. Calculate pose. Calculate the camera pose according to Xc and Xw |
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