Algorithm 1 Aruco estimates tag attitude.

Input: n pairs of left and right panoramic images

if i < n then

Binocular stereo panoramic image distortion correction

Image preprocessing, extracting Aruco tag

If Aruco tag is found in both left and right images then

Extract the posture of Aruco tag, $\sum _{i=1}^n\sum _{j=1}^k||T_{c2}^{c1}·P_{ij}^{c1}-P_{ij}^{c2}||{}_2^2$ is added to the nonlinear optimization equations

else i = i + 1

end if

Else

Solving nonlinear optimization equations with MATLAB

if the average reprojection error is less than ±5 pixels then

Calibration successful

Else

Calibration failed

end if

end if