This publication describes systems and techniques directed to measuring stereo camera alignment using depth map smoothness as a quality metric for the stereo calibration process. The quality of the depth map generated by the stereo cameras, as measured by smoothness, provides feedback indicative of a need (or not) for stereo calibration to account for camera misalignment. A smooth depth map indicates the stereo camera is aligned. Measuring depth map smoothness closes the feedback loop for gauging how well the stereo calibration process is working.
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Chang, Edward T., "Measuring Stereo Camera Alignment Using Depth Map Smoothness", Technical Disclosure Commons, (October 17, 2019)