A multiple cameras calibration method based on chess augmented reality university of cordoba (ChArUco) board was proposed for the multiple cameras system with limited or non-overlapping field of view. The ChArUco board was used to calibrate the camera; the global optimization was carried out based on the binocular reprojection error to provide precision guarantee for the subsequent pose transfer between cameras with non-overlapping field of view. Finally, the performance was tested by the spatial point reconstruction. The experimental results show that the average measurement error is 0.11 % within the point distance of 25 cm.