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

Figure 3

An example showing how the viewing angles are different in wide-angle and narrow-angle cameras. Left side consists of the wide-angle camera, and it covers a larger area of the scene. Right side consists of the narrow-angle camera, and it only covers a smaller part of the scene. The general checkerboard pattern is partially seen by the narrow-angle camera.