An Efficient Calibration Method for a Stereo Camera System with Heterogeneous Lenses Using an Embedded Checkerboard Pattern

Figure 4

The special colored checkerboard pattern used instead of the conventional black-white checkerboard pattern. The pattern is a combination of two differently colored checkerboard patterns. The outer pattern consists of red-blue checker patterns and the small inner pattern with red-yellow-blue-cyan color patterns. Aspect ratio between two patterns is 2 : 1.