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This may lead to a failure of downstream tasks, such as simultaneous localization and mapping (SLAM) or object recognition. Hence, a computationally lightweight process that detects the decalibration is of interest. We describe a modification of StOCaMo, an online calibration monitoring procedure for a stereoscopic system. The method uses robust kernel correlation based on epipolar constraints; it validates extrinsic calibration parameters on a single frame with no temporal tracking. In this paper, we present a modified StOCaMo with an improved recall rate on small decalibrations through a confirmation technique based on resampled variance. With fixed parameters learned on a realistic synthetic dataset from CARLA, StOCaMo and its proposed modification were tested on multiple sequences from two real-world datasets: KITTI and EuRoC MAV. The modification improved the recall of StOCaMo by 25\u00a0% (to 91\u00a0% and 82\u00a0%, respectively), and the accuracy by 12\u00a0% (to 94.7\u00a0% and 87.5\u00a0%, respectively), while labeling at most one-third of the input data as uninformative. The upgraded method achieved the rank correlation between StOCaMo V-index and downstream SLAM error of 0.78 (Spearman).<\/jats:p>","DOI":"10.1007\/s10044-024-01264-1","type":"journal-article","created":{"date-parts":[[2024,4,13]],"date-time":"2024-04-13T09:01:51Z","timestamp":1712998911000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["High-recall calibration monitoring for stereo cameras"],"prefix":"10.1007","volume":"27","author":[{"given":"Jaroslav","family":"Moravec","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Radim","family":"\u0160\u00e1ra","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,4,13]]},"reference":[{"issue":"11","key":"1264_CR1","doi-asserted-by":"publisher","first-page":"1330","DOI":"10.1109\/34.888718","volume":"22","author":"Z Zhang","year":"2000","unstructured":"Zhang Z (2000) A flexible new technique for camera calibration. 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