Focal length validation using three-dimensional pose estimates

A system comprising:

• a storage device configured to store instructions;
• a processor configured to execute the instructions and cause the processor to:
• receive a first image of an optical target from a camera, wherein the first image is associated with a first position of the camera,
• receive a second image of the optical target wherein the second image is associated with a second position of the camera,
• determine an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image, and
• determine a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.

A non-transitory computer readable medium comprising instructions, the instructions, when executed by a computing system, cause the computing system to:

• receive a first image of an optical target from a camera, wherein the first image is associated with a first position of the camera;
• receive a second image of the optical target, wherein the second image is associated with a second position of the camera;
• determine an estimated displacement between the first position of the camera and the second position of the camera based on the first image and the second image;
• and
• determine a focal length based on the estimated displacement and a measured displacement of the camera between the first position and the second position.