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Journal of Sensors
Volume 2017, Article ID 6742615, 12 pages
Research Article

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

School of Computer Science and Engineering, Kyungpook National University, Daegu, Republic of Korea

Correspondence should be addressed to Soon-Yong Park;

Received 28 April 2017; Revised 13 July 2017; Accepted 20 July 2017; Published 5 September 2017

Academic Editor: Oleg Sergiyenko

Copyright © 2017 Pathum Rathnayaka et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present two simple approaches to calibrate a stereo camera setup with heterogeneous lenses: a wide-angle fish-eye lens and a narrow-angle lens in left and right sides, respectively. Instead of using a conventional black-white checkerboard pattern, we design an embedded checkerboard pattern by combining two differently colored patterns. In both approaches, we split the captured stereo images into RGB channels and extract R and inverted G channels from left and right camera images, respectively. In our first approach, we consider the checkerboard pattern as the world coordinate system and calculate left and right transformation matrices corresponding to it. We use these two transformation matrices to estimate the relative pose of the right camera by multiplying the inversed left transformation with the right. In the second approach, we calculate a planar homography transformation to identify common object points in left-right image pairs and treat them with the well-known Zhangs camera calibration method. We analyze the robustness of these two approaches by comparing reprojection errors and image rectification results. Experimental results show that the second method is more accurate than the first one.