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

Figure 5

The method of generating the special color checker pattern. (a) The red-blue outer pattern is mixed with the black-green smaller pattern. (b) The basic colors blend and result in red, yellow, blue, and cyan colors. This mixing results in the inner pattern as shown in Figure 4.

(a)

(b)