An accurate camera pose is determined by pairing a first camera with a second camera in proximity to one another, and by developing a known spatial relationship between them. An image from the first camera and an image from the second camera are analyzed to determine corresponding features in both images, and a relative homography is calculated from these corresponding features. A relative parameter, such as a focal length or an extrinsic parameter is used to calculate a first camera's parameter based on a second camera's parameter and the relative homography.