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

Figure 2

The proportional relationship between the focal length and FOV. When the focal length is longer, the FOV is lower, resulting in only a part of the object light rays to be converged. When the focal length is shorter, the FOV becomes higher, resulting in a wider area of the object to be converged.