aka camera resectioning
Finding the parameters (including the position and rotation, so called extrinsic parameters) of the camera from images of objects with known geometries. The extrinsic part of the estimation is an instance of Pose estimation
https://www.wikiwand.com/en/Camera_resectioning
A Flexible New Technique for Camera Calibration
OpenCV implementation: https://docs.opencv.org/3.0-beta/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
DLT algorithm