accessing a temperature of a camera of the visual tracking system;

detecting that the temperature of the camera exceeds a threshold that is based on a factory calibration temperature of the camera;

in response to detecting that the temperature of the camera exceeds the threshold, identifying one or more feature points that are located in a central region of an initial image generated by the camera;

generating a graphical user interface element that instructs a user of the visual tracking system to move the visual tracking system towards a border region of the initial image;

tracking, using the visual tracking system, one or more detected feature points in a border region of a second image generated by the camera, the border region of the second image corresponding to the central region of the initial image;

calculating one or more projected feature points in the border region of the second image based on factory intrinsic calibration parameters of the visual tracking system;

matching pairs of the one or more detected feature points in the border region of the second image with the corresponding one or more projected features points in the border region of the second image; and

determining intrinsic parameters of the camera based on the matching pairs of the one or more detected feature points in the border region of the second image and the one or more projected feature points in the border region of the second image.