An image processing device for performing a geometric calibration of at least a first image and a second image, wherein the first image depicts a first section of a calibration target and the second image depicts a second section of the calibration target, wherein the surface of the calibration target has a known calibration pattern, wherein the image processing device comprises: - a feature recognition unit adapted to detect features of the known calibration pattern within the first image, and detect features of the known calibration pattern within the second image, - a homography calculation unit adapted to determine a first homography of the first image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the first image, and determine a second homography of the second image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the second image, and - a feature extrapolation unit (152, 153) adapted to extrapolate further features of the known calibration pattern outside of the field of view of the first image based upon the known calibration pattern and the first homography, and extrapolate features of the known calibration pattern outside of the field of view of the second image based upon the known calibration pattern and the second homography, and - a geometry calculation unit adapted to determine a third homography between the first image and the second image based upon the features of the known calibration pattern within the first image, the features of the known calibration pattern within the second image, the extrapolated further features of the known calibration pattern outside of the field of view of the first image, and the extrapolated further features of the known calibration pattern outside of the field of view of the second image; wherein the known calibration pattern is an at least partially non-repetitive geometric pattern, wherein the first section of the calibration target depicts at least a first non-repetitive feature of the known calibration pattern, wherein the second section of the calibration target depicts at least a second non-repetitive feature of the known calibration pattern, wherein the feature recognition unit is adapted to - detect at least the first non-repetitive feature of the known calibration pattern within the first image, and - detect at least the second non-repetitive feature of the known calibration pattern within the second image, wherein the homography determination unit is adapted to determine the first homography by determining at least the position and/or orientation and/or deformation of the first non-repetitive feature of the known calibration pattern within the first image and to determine the second homography by determining at least the position and/or orientation and/or deformation of the second non-repetitive feature of the known calibration pattern within the second image. - a feature recognition unit adapted to detect features of the known calibration pattern within the first image, and detect features of the known calibration pattern within the second image, detect features of the known calibration pattern within the first image, and detect features of the known calibration pattern within the second image, - a homography calculation unit adapted to determine a first homography of the first image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the first image, and determine a second homography of the second image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the second image, and determine a first homography of the first image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the first image, and determine a second homography of the second image and the calibration target by determining at least one of a position, an orientation, and a deformation of the features of the known calibration pattern within the second image, and - a feature extrapolation unit (152, 153) adapted to extrapolate further features of the known calibration pattern outside of the field of view of the first image based upon the known calibration pattern and the first homography, and extrapolate features of the known calibration pattern outside of the field of view of the second image based upon the known calibration pattern and the second homography, and - a geometry calculation unit adapted to determine a third homography between the first image and the second image based upon the features of the known calibration pattern within the first image, the features of the known calibration pattern within the second image, the extrapolated further features of the known calibration pattern outside of the field of view of the first image, and the extrapolated further features of the known calibration pattern outside of the field of view of the second image; - detect at least the first non-repetitive feature of the known calibration pattern within the first image, and - detect at least the second non-repetitive feature of the known calibration pattern within the second image,