Abstract: Calibration of the stereo-camera system is the basis of lunar rover navigation and cartography. The scientific instruments on the Chang'e-3 lunar rover include a Navcam, Pancam, and Hazcam, Self-calibration bundle adjustment with restrictive constraints based on high accuracy control field was employed to calibrate the stereo-camera system of Chang'e-3 lunar rover. The experimental results reveal that this approach can improve the accuracy and stability of calibration.