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Point-based targets, such as checkerboards, are often not practical for outdoor camera calibration, as cameras are usually at significant heights requiring extremely large calibration patterns on the ground. Fortunately, it is possible to make use of existing non-point landmarks in the scene by formulating camera calibration in terms of image alignment. In this paper, we simultaneously estimate the camera intrinsic, extrinsic and lens distortion parameters directly by aligning to a planardoi:10.1109/wacv.2012.6163012 dblp:conf/wacv/CarrSM12 fatcat:xn5pocy3j5e6bbdgywqis2w3ki