This paper simultaneously calibrates odometry parameters and the relative pose between a monocular camera and a robot automatically. Most camera pose estimation methods use natural features or artificial landmark tools. However. there are mismatches and scale ambiguity for natural features; the large-scale precision landmark tool is also challenging to make. https://www.roneverhart.com/AMS-Neve-1073SPX-Single-Preamp-and-EQ-p33827/