Fuente: WIPO "tomato" The calibration system of the farming machine receives images from the camera array. The images comprise visual information representing a view of a portion of an area surrounding the farming machine. To calibrate the camera array, the system determines a relative pose between pairs of cameras by extracting relative position and orientation characteristics from visual information in images captured by the camera pairs. The calibration system can determine that a pair of cameras is in a swapped state by comparing the relative pose of the pair of cameras to an expected pose of the pair of cameras. The calibration system adjusts the pair to remedy the swapped state.