CALIBRATION METHOD

A method of calibrating a structured light imaging device includes an image sensor and a structured light projector. The method includes projecting, by the structured light projector, a pattern of structured light onto a target, the target including a plurality of optical markers, capturing, by the image sensor, an image of the pattern on the target, determining, using (i) predetermined data specifying properties of the optical markers and (ii) the appearance of the markers in the captured image, a pose of the device relative to the target, and rendering an image of the target and the pattern using the pose of the device and initial calibration data using a 3D model of the observed calibration scene. The method then includes iteratively refining said rendered image until a substantial convergence is achieved between the rendered image and the captured image by adjusting the calibration data.