An imaging system is described having at least three cameras and a processing unit. The at least three cameras have a common field of view and camera centres positioned along a line. The at least three cameras are configured to image a calibration object to generate a set of calibration object images, wherein the calibration object is located nearby the at least three cameras and in the common field of view. The at least three cameras are further configured to image a scene comprising a set of distant scene position points to generate a set of position point images. The processing unit is configured to generate a set of calibration parameters in dependence on the set of calibration object images and the set of position point images.