y 
Image Coordinate System 
X 
  
Camera Center principal point f 
SE y 
. em 
7-- Xpp 
Y 
gj; 
gon 
eo 
“plu 
oo 
  
  
  
Fig. 1. Schematic diagram of the experiment setup 
  
  
  
  
  
  
  
  
Camera 1 Camera 2 
Androx rem 
| ! Monitor 
SUN Station 
  
  
  
Fig. 2. Layout of the hardware 
    
Y