To calibrate a camera
system with at least three cameras (51, 52, 53) with known focal lengths (f), arranged side by side in the region of a common camera arrangement plane (xy) along a camera arrangement coordinate (x) and whose object-side opening angle is each at most 45°, at least three calibration marks are first selected. The calibration marks serve to specify a calibration marker point (P) for each. A , P B , P C ), where the calibration marker points (P A , P B , P C ) at various intervals (d A , d B , d C ) are arranged relative to the camera arrangement plane (xy). The calibration marker points (P A , P B , P C ) are used with the cameras (51, 52, 53) to capture calibration marker pixels (P A ', P B ', P C') is mapped into a
camera image plane of the respective camera (51, 52, 53). For each
pairing of two of the cameras (51, 52, 53), a disparity of the mapping of the respective calibration marker pixel (P) is determined. A ', P B ', P C ') measured in the respective
camera image plane. From the at least nine measured disparities and the camera focal lengths (f), distances (x) are calculated. i - x k ) between each of the cameras (5 i , 5 k ) of a camera pair along the camera arrangement coordinate (x) as well as positional errors of each camera pair (5 i , 5 k ) determined, which result from deviations in the arrangement of the cameras (51, 52, 53) relative to the camera arrangement plane (xy). This results in a calibration procedure that ensures precise and reliable operation of the camera
system.