Fig. 1. Binocular camera model

Fig. 2. Distortion model of camera lens

Fig. 3. Flow chart of binocular camera calibration algorithm

Fig. 4. Internal parameters and distortion error at different error levels. (a) fx and fy error; (b) u0 and v0 error; (c) k1 error

Fig. 5. External parameter error at different error levels. (a) Translation error; (b) rotation error

Fig. 6. Average of reprojection error of the images captured by left and right camera

Fig. 7. (a) Binocular vision measurement system; (b) target chart captured by left camera; (c) target chart captured by right camera

Fig. 8. Comparison of consuming time in binocular calibration with different pictures