Research Article

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

Figure 8

The method of separately identifying outer and inner patterns from wide-angle and narrow-angle cameras, respectively. Original wide-angle and narrow-angle camera images are shown in (a) and (b). (c) states the extracted R channel of wide-angle camera image, where (d) states the inverted G channel of narrow-angle camera image.