Algorithm 1 Camera Calibration Steps

Input: 1) Images Im || Is    2) Initial camera parameters ICP    *note: Im and Is are the images taken with the proposed mono and stereo cameras. Where || demonstrates that input will either be Im or Is

Output: Computed camera parameters CCP

Steps:

while (Im || Is) 1: Extract consistent features, £c ← ORB (Imi, Imi+1, Imi+2, Imi+3, Imi+4, Imi+5) 2: Feature matching, Imf ← RANSAC (£c) 3: Homography calculation, Fmf ← H(Imf) 4: Computing camera parameters, CCP ← Φ (Fmf) end while