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

Table 3

Comparisons of rectification errors for 4 rectified stereo image pairs.

	Method 1 (pixels)	Method 2 (pixels)
Set 1	1.61847	1.49214
Set 2	1.74390	0.98472
Set 3	1.90601	1.32478
Set 4	2.03619	1.57652
Average Err.	1.82614	1.59189