1. A method for intrinsic calibration of a camera using a calibration target, the camera having a field of view covering a scene, the method comprising the steps of: providing a plurality of target images acquired with the camera, each target image representing a view of the calibration target in a respective one of a plurality of target poses, each target pose corresponding to a certain location and orientation of the calibration target relative to the camera; partitioning a volume of interest of the scene into a set of volume bins; defining a set of angle bins, each angle bin encompassing a respective range of possible orientation values for the calibration target; identifying, among the plurality of target images, reference images of the calibration target; assigning each reference image to either or both of one of the volume bins and one of the angle bins based on the respective target pose corresponding to the reference image; and obtaining intrinsic camera parameters based on the reference images.