System and method for calibrating a camera and object tracking system using a calibrated camera

A method of calibrating a camera comprising:

• obtaining an initial transformation matrix (Hk) by performing a discrete linear transform (DLT) to recover 11 DoF representing initial implicit camera parameters, the initial transformation matrix (Hk) for transforming pixel coordinates (qk) relating to a reference camera image object in a 2D camera field of view (FOV) of the camera with corresponding known real world location coordinates in a 3D global reference space;
• aligning a calibration image to the reference camera image object in the 3D global reference space by applying one or more corrections (HΔ) to said initial transformation matrix (Hk);
• and
• building an updated transformation matrix (Hk+1) based on said aligning of the calibration image to the reference camera image object and applying one or more corrections (HΔ) to said initial transformation matrix (Hk) thereby updating implicit extrinsic camera parameters,
• wherein the camera is calibrated without decomposing a plurality of camera parameters into explicit extrinsic and explicit intrinsic camera parameters.