A method for calibrating a camera without the decomposition of camera parameters into extrinsic and intrinsic components is provided. Further, there is provided a method for tracking an object in motion comprising capturing one or more image frames of an object in motion, using one or more calibrated cameras that have been calibrated according to a calibration method that generates and uses a respective transformation matrix for mapping three-dimensional (3D) real world model features to corresponding two-dimensional (2D) image features. The tracking method further comprises determining, using a hardware processor, motion characteristics of the object in motion based on the captured one or more image frames from each one or more calibrated cameras, the determining of the motion characteristics based on implicit intrinsic camera parameters and implicit extrinsic camera parameters of the respective transformation matrix from each respective one or more calibrated cameras.