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

Figure 7

A representation of how the special checkerboard pattern is seen in left wide-angle and right narrow-angle cameras. Checkerboard pattern is kept at a very close distance to the cameras. Wide-angle camera has a higher FOV; thus it sees the whole area of the checker pattern. The FOV of narrow-angle camera is lower; thus it always sees the inner pattern.