由于制造和装配误差难以完全消除，导致摄像机的光学系统存在不同程度的非线性光学畸变现象。为此，利用不同视角采集图像上同名像点共面的基本原理，推导包含非线性畸变模型的共面条件方程，并采用最小二乘解的广义逆法求解非线性畸变参数，确保摄像机的自校正精度；因无需加工和维护成本很高的精密标定板，也不用制作高精度摄像机运动平台，仅通过自由拍摄方式就能够从多视角获得含6个以上编码点的图像，即可获得摄像系统的非线性畸变参数。因此，较传统的摄像机畸变校正方法而言，自校正过程简单快捷，成本低，多个实例证明技术的正确性与实用性。

According to the homologous points on different coplanar visual-angle images coplanar, the coplanar condition equations with nonlinear distortion coefficients are deduced, and the generalized inverse method of least square solution for nonlinear distortion parameters is put forward to ensure camera self-calibrating accuracy, because the fabricating and assembling errors of the camera optical system cannot be removed which results to nonlinear distortion between real image and ideal image to some extent. This calibrating method generates the nonlinear distortion coefficients from different visual-angle images with more than six code points, therefore it is simple and rapid because it doesn′t need high-precision calibration objects or camera moving platform, so the calibrating cost is low, compared with the traditional camera calibration. The examples have demonstrated this method is correct; therefore it is useful and effective.