ONLINE INTRINSIC CALIBRATION

Systems and techniques are provided for image processing for calibration. For example, a computing device can obtain image frames of a three-dimensional (3D) scene, each image frame including a plurality of two-dimensional (2D) points. Each 2D point corresponds to a 3D point. The computing device can determine a subset of 3D points by applying bundle adjustment on a set of 3D points (distributed over a field of view of the camera) and on fixed parameters of a camera. The computing device can determine inlier points from the subset of 3D points with a reprojection error less than a threshold value. The computing device can determine a final 3D points and final parameters of the camera by applying the bundle adjustment on the inlier points and on a prior set of camera parameters. The computing device can apply, to the camera, final intrinsic parameters of the final parameters of the camera.