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

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left"> </td><td class="align_center"> Left camera </td><td class="align_center"> Right camera </td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left"> <svg height="12.7178pt" id="M61" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 14.4046 12.7178" width="14.4046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M619 670C619 686 593 712 555 712S459 686 410 634S335 504 320 430H250L219 400L222 388H312L258 73C223 -133 201 -166 187 -180C175 -191 158 -199 140 -199C123 -199 88 -188 74 -172C68 -166 63 -164 54 -171C38 -185 23 -201 23 -215C23 -236 60 -261 93 -261C122 -261 161 -247 207 -200C268 -138 300 -71 337 94C365 220 376 277 394 387L501 399L521 430H401C432 623 464 665 501 665C524 665 544 651 567 627C577 617 583 618 592 625C601 631 619 651 619 670Z" id="g113-103"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.721,3.132)"><path d="M782 650H541L536 618L564 614C597 609 604 600 584 574C535 508 486 451 437 395C394 473 361 533 343 575C331 605 335 610 375 615L400 618L407 650H156L147 618C222 612 230 608 267 537L375 330C277 214 186 117 163 96C108 43 97 38 27 32L18 0H265L274 32L251 35C204 41 202 47 224 80C264 138 327 213 397 293L504 80C520 48 516 42 472 36L440 32L433 0H707L716 32C627 38 622 43 581 121L455 361L629 548C685 606 696 610 775 618L782 650Z" id="g50-89"></path></g></svg></td><td class="align_center"> 483.5165</td><td class="align_center"> 1127.8372</td></tr><tr><td class="align_left"> <svg height="12.7178pt" id="M62" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 13.3998 12.7178" width="13.3998pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M619 670C619 686 593 712 555 712S459 686 410 634S335 504 320 430H250L219 400L222 388H312L258 73C223 -133 201 -166 187 -180C175 -191 158 -199 140 -199C123 -199 88 -188 74 -172C68 -166 63 -164 54 -171C38 -185 23 -201 23 -215C23 -236 60 -261 93 -261C122 -261 161 -247 207 -200C268 -138 300 -71 337 94C365 220 376 277 394 387L501 399L521 430H401C432 623 464 665 501 665C524 665 544 651 567 627C577 617 583 618 592 625C601 631 619 651 619 670Z" id="g113-103"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.721,3.132)"><path d="M679 650H432L424 619L456 615C499 610 507 601 486 568C442 499 366 400 315 336C281 403 229 526 211 570C199 600 202 610 239 614C239 614 281 618 281 619L288 650H33L24 619C98 612 106 606 129 552L226 325C238 297 238 282 234 259L211 136C193 42 184 38 97 32L86 0H375L382 32C285 39 277 45 296 136L324 267C329 290 337 304 350 322C420 416 479 489 523 539C582 607 595 613 668 619L679 650Z" id="g50-90"></path></g></svg></td><td class="align_center"> 483.1779</td><td class="align_center"> 1125.0019</td></tr><tr><td class="align_left"> <svg height="9.25202pt" id="M63" style="vertical-align:-3.29111pt" version="1.1" viewbox="-0.0498162 -5.96091 9.98371 9.25202" width="9.98371pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M545 403C545 425 527 451 498 451C448 451 400 404 312 286L290 341C262 412 246 451 219 451C182 451 138 404 92 345L112 323C152 368 169 378 181 378C192 378 201 359 216 321L257 214C184 115 142 69 113 69C102 69 93 73 88 79S78 89 68 89C47 89 24 61 24 40C24 8 49 -12 75 -12C125 -12 175 31 271 175L312 64C330 15 357 -12 382 -12C421 -12 475 35 515 98L496 121C466 88 439 62 420 62C402 62 384 92 363 147L325 247C349 280 374 309 397 333C422 361 446 381 462 381C471 381 481 374 488 366C493 360 499 357 505 357C521 357 545 380 545 403Z" id="g50-121"></path></g></svg></td><td class="align_center"> 343.4943</td><td class="align_center"> 343.6781</td></tr><tr><td class="align_left"> <svg height="9.14241pt" id="M64" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -5.96091 10.8423 9.14241" width="10.8423pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.173,3.132)"><path d="M679 650H432L424 619L456 615C499 610 507 601 486 568C442 499 366 400 315 336C281 403 229 526 211 570C199 600 202 610 239 614C239 614 281 618 281 619L288 650H33L24 619C98 612 106 606 129 552L226 325C238 297 238 282 234 259L211 136C193 42 184 38 97 32L86 0H375L382 32C285 39 277 45 296 136L324 267C329 290 337 304 350 322C420 416 479 489 523 539C582 607 595 613 668 619L679 650Z" id="g50-90"></path></g></svg></td><td class="align_center"> 257.4602</td><td class="align_center"> 256.7247</td></tr><tr><td class="align_left" colspan="3"><hr/></td></tr><tr><td class="align_left">Reprojection Err.</td><td class="align_center"> 0.3252</td><td class="align_center"> 0.3500</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Journal of Sensors

tab1

Table 1

Table 1: An Efficient Calibration Method for a Stereo Camera System with Heterogeneous Lenses Using an Embedded Checkerboard Pattern 