1. A system comprising: an inertial measurement unit (IMU) configured to measure parameters; a sensing device coupled to said IMU, wherein the sensing device is configured to capture a plurality of calibration images of a scene that contains at least one calibration target, wherein the calibration images are taken from different locations and/or orientations, wherein each of the calibration images shares at least one common calibration target with at least one other calibration image; and a computer processor configured to: calculate, based on the at least one common calibration target, a position and/or orientation of said sensing device relative to said calibration target, for each location of the capturing of the calibration images; and calibrate at least one component of the IMU by comparing image based motion of the sensing device to IMU based motion of the sensing device, wherein the image based motion of the sensing device is determined based on the relative motion between at least two of the calibration images using the calculated relative position and/or orientation, and wherein the IMU based motion of the sensing device is determined based on measurements of said parameters taken by the IMU in time ranges corresponding to the at least two calibration images.