Research Article

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.