diff --git a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
index deba68f2b..8fe5b76f5 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -39,10 +39,26 @@ public class FindBoardCornersPipe
     Size imageSize;
     Size patternSize;
 
+    // Tune to taste for a reasonable tradeoff between making
+    // the findCorners portion work hard, versus the subpixel refinement work hard.
+    final int FIND_CORNERS_WIDTH_PX = 320;
+
+    // Configure the optimizations used while using openCV's find corners algorithm
+    // Since we return results in real-time, we want ensure it goes as fast as possible
+    // and fails as fast as possible.
+    final int findChessboardFlags =
+            Calib3d.CALIB_CB_NORMALIZE_IMAGE
+                    | Calib3d.CALIB_CB_ADAPTIVE_THRESH
+                    | Calib3d.CALIB_CB_FILTER_QUADS
+                    | Calib3d.CALIB_CB_FAST_CHECK;
+
     private MatOfPoint2f boardCorners = new MatOfPoint2f();
 
+    // Intermedeate result mat's
+    Mat smallerInFrame = new Mat();
+    MatOfPoint2f smallerBoardCorners = new MatOfPoint2f();
+
     // SubCornerPix params
-    private final Size windowSize = new Size(11, 11);
     private final Size zeroZone = new Size(-1, -1);
     private final TermCriteria criteria = new TermCriteria(3, 30, 0.001);
 
@@ -108,6 +124,103 @@ public class FindBoardCornersPipe
         return findBoardCorners(in);
     }
 
+    /**
+    * Figures out how much a frame or point cloud must be scaled down by to match the desired size at
+    * which to run FindCorners
+    *
+    * @param inFrame
+    * @return
+    */
+    private double getFindCornersScaleFactor(Mat inFrame) {
+        if (inFrame.width() > FIND_CORNERS_WIDTH_PX) {
+            return ((double) FIND_CORNERS_WIDTH_PX) / inFrame.width();
+        } else {
+            return 1.0;
+        }
+    }
+
+    /**
+    * Finds the minimum spacing between a set of x/y points Currently only considers points whose
+    * index is next to each other Which, currently, means it traverses one dimension. This is a rough
+    * heuristic approach which could be refined in the future.
+    *
+    * <p>Note that the current implementation can be fooled under the following conditions: (1) The
+    * width of the image is an odd number, and the smallest distance was actually on the between the
+    * last two points in a given row and (2) The smallest distance was actually in the direction
+    * orthogonal to that which was getting traversed by iterating through the MatOfPoint2f in order.
+    *
+    * <p>I've chosen not to handle these for speed's sake, and because, really, you don't need the
+    * exact answer for "min distance". you just need something fairly reasonable.
+    *
+    * @param inPoints point set to analyze. Must be a "tall" matrix.
+    * @return min spacing between neighbors
+    */
+    private double getApproxMinSpacing(MatOfPoint2f inPoints) {
+        double minSpacing = Double.MAX_VALUE;
+        for (int pointIdx = 0; pointIdx < inPoints.height() - 1; pointIdx += 2) {
+
+            // +1 idx Neighbor distance
+            double[] startPoint = inPoints.get(pointIdx, 0);
+            double[] endPoint = inPoints.get(pointIdx + 1, 0);
+            double deltaX = startPoint[0] - endPoint[0];
+            double deltaY = startPoint[1] - endPoint[1];
+            double distToNext = Math.sqrt(deltaX * deltaX + deltaY * deltaY);
+
+            minSpacing = Math.min(distToNext, minSpacing);
+        }
+        return minSpacing;
+    }
+
+    /**
+    * @param inFrame Full-size mat that is going to get scaled down before passing to
+    *     findBoardCorners
+    * @return the size to scale the input mat to
+    */
+    private Size getFindCornersImgSize(Mat inFrame) {
+        var findcorners_height = Math.round(inFrame.height() * getFindCornersScaleFactor(inFrame));
+        return new Size(FIND_CORNERS_WIDTH_PX, findcorners_height);
+    }
+
+    /**
+    * Given an input frame and a set of points from the "smaller" findChessboardCorner analysis,
+    * re-scale the points back to where they would have been in the input frame
+    *
+    * @param inPoints set of points derived from a call to findChessboardCorner on a shrunken mat.
+    *     Must be a "tall" matrix.
+    * @param origFrame Original frame we're rescaling points back to
+    * @param outPoints mat into which the output rescaled points get placed
+    */
+    private void rescalePointsToOrigFrame(
+            MatOfPoint2f inPoints, Mat origFrame, MatOfPoint2f outPoints) {
+        // Rescale boardCorners back up to the inproc image size
+        Point[] outPointsArr = new Point[inPoints.height()];
+        double sf = getFindCornersScaleFactor(origFrame);
+        for (int pointIdx = 0; pointIdx < inPoints.height(); pointIdx++) {
+            double[] pointCoords = inPoints.get(pointIdx, 0);
+            double outXCoord = pointCoords[0] / sf;
+            double outYCoord = pointCoords[1] / sf;
+            outPointsArr[pointIdx] = new Point(outXCoord, outYCoord);
+        }
+        outPoints.fromArray(outPointsArr);
+    }
+
+    /**
+    * Picks a window size for doing subpixel optimization based on the board type and spacing
+    * observed between the corners or points in the image
+    *
+    * @param inPoints
+    * @return
+    */
+    private Size getWindowSize(MatOfPoint2f inPoints) {
+        double windowHalfWidth = 11; // Dot board uses fixed-size window half-width
+        if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
+            // Chessboard uses a dynamic sized window based on how far apart the corners are
+            windowHalfWidth = Math.floor(getApproxMinSpacing(inPoints) * 0.50);
+            windowHalfWidth = Math.max(1, windowHalfWidth);
+        }
+        return new Size(windowHalfWidth, windowHalfWidth);
+    }
+
     /**
     * Find chessboard corners given a input mat and output mat to draw on
     *
@@ -125,7 +238,20 @@ public class FindBoardCornersPipe
 
         if (params.type == UICalibrationData.BoardType.CHESSBOARD) {
             // This is for chessboards
-            boardFound = Calib3d.findChessboardCorners(inFrame, patternSize, boardCorners);
+
+            // Reduce the image size to be much more manageable
+            Imgproc.resize(inFrame, smallerInFrame, getFindCornersImgSize(inFrame));
+
+            // Run the chessboard corner finder on the smaller image
+            boardFound =
+                    Calib3d.findChessboardCorners(
+                            smallerInFrame, patternSize, smallerBoardCorners, findChessboardFlags);
+
+            // Rescale back to original pixel locations
+            if (boardFound) {
+                rescalePointsToOrigFrame(smallerBoardCorners, inFrame, boardCorners);
+            }
+
         } else if (params.type == UICalibrationData.BoardType.DOTBOARD) {
             // For dot boards
             boardFound =
@@ -134,10 +260,10 @@ public class FindBoardCornersPipe
         }
 
         if (!boardFound) {
-            // If we can't find a chessboard/dot board, convert the inFrame back to BGR and return false.
-
+            // If we can't find a chessboard/dot board, just return
             return null;
         }
+
         var outBoardCorners = new MatOfPoint2f();
         boardCorners.copyTo(outBoardCorners);
 
@@ -148,7 +274,8 @@ public class FindBoardCornersPipe
         this.imageSize = new Size(inFrame.width(), inFrame.height());
 
         // Do sub corner pix for drawing chessboard
-        Imgproc.cornerSubPix(inFrame, outBoardCorners, windowSize, zeroZone, criteria);
+        Imgproc.cornerSubPix(
+                inFrame, outBoardCorners, getWindowSize(outBoardCorners), zeroZone, criteria);
 
         // convert back to BGR
         //        Imgproc.cvtColor(inFrame, inFrame, Imgproc.COLOR_GRAY2BGR);
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index 4c3942feb..6dfc22357 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -142,13 +142,6 @@ public class Calibrate3dPipeline
 
                 // update the UI
                 broadcastState();
-
-                outputColorCVMat.release();
-                return new CVPipelineResult(
-                        MathUtils.nanosToMillis(sumPipeNanosElapsed),
-                        fps,
-                        Collections.emptyList(),
-                        new Frame(new CVMat(inputColorMat), frame.frameStaticProperties));
             }
         }
 
@@ -158,7 +151,7 @@ public class Calibrate3dPipeline
         return new CVPipelineResult(
                 MathUtils.nanosToMillis(sumPipeNanosElapsed),
                 fps, // Unused but here in case
-                null,
+                Collections.emptyList(),
                 new Frame(outputColorCVMat, frame.frameStaticProperties));
     }
 
diff --git a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
index 77539910d..68e8a9a22 100644
--- a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -22,6 +22,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import java.io.File;
+import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
@@ -32,7 +33,6 @@ import org.junit.jupiter.api.Test;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
-import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
@@ -81,6 +81,8 @@ public class Calibrate3dPipeTest {
     @Test
     public void calibrationPipelineTest() {
 
+        int startMatCount = CVMat.getMatCount();
+
         File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
         File[] directoryListing = dir.listFiles();
 
@@ -99,6 +101,7 @@ public class Calibrate3dPipeTest {
                                     new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
                                     new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
             // TestUtils.showImage(output.outputFrame.image.getMat());
+            output.release();
         }
 
         assertTrue(
@@ -107,10 +110,12 @@ public class Calibrate3dPipeTest {
                         .allMatch(it -> it.width() > 0 && it.height() > 0));
 
         calibration3dPipeline.removeSnapshot(0);
-        calibration3dPipeline.run(
-                new Frame(
-                        new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
-                        new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)));
+        calibration3dPipeline
+                .run(
+                        new Frame(
+                                new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
+                                new FrameStaticProperties(640, 480, 60, new Rotation2d(), null)))
+                .release();
 
         assertTrue(
                 calibration3dPipeline.foundCornersList.stream()
@@ -128,17 +133,54 @@ public class Calibrate3dPipeTest {
         System.out.println("Standard Deviation: " + cal.standardDeviation);
         System.out.println(
                 "Mean: " + Arrays.stream(calibration3dPipeline.perViewErrors()).average().toString());
+
+        // Confirm we didn't get leaky on our mat usage
+        assertTrue(CVMat.getMatCount() == startMatCount);
     }
 
     @Test
-    public void calibrateSquaresTest() {
+    public void calibrateSquares320x240() {
+        String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+        File dir = Path.of(base, "piCam", "320_240_1").toFile();
+        Size sz = new Size(320, 240);
+        calibrateSquaresCommon(sz, dir);
+    }
 
-        File dir = new File(TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString());
-        File[] directoryListing = dir.listFiles();
+    @Test
+    public void calibrateSquares640x480() {
+        String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+        File dir = Path.of(base, "piCam", "640_480_1").toFile();
+        Size sz = new Size(640, 480);
+        calibrateSquaresCommon(sz, dir);
+    }
+
+    @Test
+    public void calibrateSquares960x720() {
+        String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+        File dir = Path.of(base, "piCam", "960_720_1").toFile();
+        Size sz = new Size(960, 720);
+        calibrateSquaresCommon(sz, dir);
+    }
+
+    @Test
+    public void calibrateSquares1920x1080() {
+        String base = TestUtils.getSquaresBoardImagesPath().toAbsolutePath().toString();
+        File dir = Path.of(base, "piCam", "1920_1080_1").toFile();
+        Size sz = new Size(1920, 1080);
+        calibrateSquaresCommon(sz, dir);
+    }
+
+    public void calibrateSquaresCommon(Size imgRes, File rootFolder) {
+
+        int startMatCount = CVMat.getMatCount();
+
+        File[] directoryListing = rootFolder.listFiles();
+
+        assertTrue(directoryListing.length >= 25);
 
         Calibrate3dPipeline calibration3dPipeline = new Calibrate3dPipeline(20);
         calibration3dPipeline.getSettings().boardType = UICalibrationData.BoardType.CHESSBOARD;
-        calibration3dPipeline.getSettings().resolution = new Size(320, 240);
+        calibration3dPipeline.getSettings().resolution = imgRes;
 
         for (var file : directoryListing) {
             if (file.isFile()) {
@@ -147,9 +189,11 @@ public class Calibrate3dPipeTest {
                         calibration3dPipeline.run(
                                 new Frame(
                                         new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
-                                        new FrameStaticProperties(320, 240, 67, new Rotation2d(), null)));
+                                        new FrameStaticProperties(
+                                                (int) imgRes.width, (int) imgRes.height, 67, new Rotation2d(), null)));
 
-                // TestUtils.showImage(output.outputFrame.image.getMat(), file.getName());
+                // TestUtils.showImage(output.outputFrame.image.getMat(), file.getName(), 1);
+                output.outputFrame.release();
             }
         }
 
@@ -161,24 +205,43 @@ public class Calibrate3dPipeTest {
         var cal = calibration3dPipeline.tryCalibration();
         calibration3dPipeline.finishCalibration();
 
-        for (var file : directoryListing) {
-            if (file.isFile()) {
-                Mat raw = Imgcodecs.imread(file.getAbsolutePath());
-                Mat undistorted = new Mat(new Size(600, 600), raw.type());
-                Imgproc.undistort(
-                        raw, undistorted, cal.cameraIntrinsics.getAsMat(), cal.cameraExtrinsics.getAsMat());
-
-                TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1);
-            }
-        }
+        // for (var file : directoryListing) {
+        //    if (file.isFile()) {
+        //        Mat raw = Imgcodecs.imread(file.getAbsolutePath());
+        //        Mat undistorted = new Mat(new Size(imgRes.width * 2, imgRes.height * 2), raw.type());
+        //        Imgproc.undistort(
+        //                raw, undistorted, cal.cameraIntrinsics.getAsMat(),
+        // cal.cameraExtrinsics.getAsMat());
+        //
+        //        TestUtils.showImage(undistorted, "undistorted " + file.getName(), 1); //apparently
+        // flakey in CI?
+        //        raw.release();
+        //        undistorted.release();
+        //    }
+        // }
 
+        // Confirm we have indeed gotten valid calibration objects
         assertNotNull(cal);
         assertNotNull(cal.perViewErrors);
+
+        // Confirm the calibrated center pixel is fairly close to of the "expected" location at the
+        // center of the sensor.
+        // For all our data samples so far, this should be true.
+        double centerXErrPct =
+                Math.abs(cal.cameraIntrinsics.data[2] - imgRes.width / 2) / (imgRes.width / 2) * 100.0;
+        double centerYErrPct =
+                Math.abs(cal.cameraIntrinsics.data[5] - imgRes.height / 2) / (imgRes.height / 2) * 100.0;
+        assertTrue(centerXErrPct < 10.0);
+        assertTrue(centerYErrPct < 10.0);
+
         System.out.println("Per View Errors: " + Arrays.toString(cal.perViewErrors));
         System.out.println("Camera Intrinsics : " + cal.cameraIntrinsics.toString());
         System.out.println("Camera Extrinsics : " + cal.cameraExtrinsics.toString());
         System.out.println("Standard Deviation: " + cal.standardDeviation);
         System.out.println(
                 "Mean: " + Arrays.stream(calibration3dPipeline.perViewErrors()).average().toString());
+
+        // Confirm we didn't get leaky on our mat usage
+        assertTrue(CVMat.getMatCount() == startMatCount);
     }
 }
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