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

Figure 9

An instance of mono calibrations. First, second and third columns represent original, split channel, and undistorted images. (a) R channel is extracted from wide-angle camera images for calibration. (b) Inverted G channel is extracted from narrow-angle camera images for calibration.

(a)

(b)