Provided are methods for deep learning-based camera calibration, which can include receiving first and second images captured by a camera, processing the first image using a first neural network to determine a depth of the first image, processing the first image and the second image using a second neural network to determine a transformation between a pose of the camera for the first image and a pose of the camera for the second image, generating a projection image based on the depth of the first image, the transformation of the pose of the camera, and intrinsic parameters of the camera, comparing the second image and the projection image to determine a reprojection error, and adjusting at least one of the intrinsic parameters of the camera based on the reprojection error. Systems and computer program products are also provided.