A capture device calibration system accesses a plurality of datasets that are synchronously captured by a set of capture devices. The capture devices are progressively relocated to form a plurality of different positional configurations each implementing a formation that includes a center position and one or more peripheral positions. The capture device calibration system determines three dimensional (“3D”) locations of features of a calibration object positioned in front of the formation based on different representations of the calibration object captured by the set of capture devices from different view angles associated with the center position and the one or more peripheral positions included within the formation. Based on the determined 3D locations of the features of the calibration object, the capture device calibration system determines a set of intrinsic parameter values for one or more of the capture devices in the set of capture devices. Corresponding methods are also disclosed.