在分析了摄像机模型，单双目视觉系统标定以及消隐点几何特性的基础上，提出了一种新型正交消隐点的摄像机标定方法。该方法仅使用摄像机在不同视角拍摄多幅(至少3幅)棋盘格模板的图像。引入一二阶径向畸变的摄像机针孔模型，主要由消隐点的计算与优化，消隐点法线性标定内部参数，新型改进的Tsai两步法线性求解外部参数和非线性全局优化等组成。实验结果表明,所给出的方法在全局优化之后，7幅图像的重投影平均像素误差为0.0043 pixel，耗时为1.7911260 s,可见速度快且精度高，可广泛应用于计算机视觉研究、工业三维测量与重构、道路测绘等多个领域的摄像机标定。

A novel camera calibrating method based on orthogonal vanishing points is proposed after analyzing camera model, calibration of single and stereo vision systems and geometrical characteristics of the vanishing point. Only one camera photographing at least three checkerboard patterns in different orientations is required. The pinhole and the first two terms of radial distortion model is introduced. The presented method mainly contains the computation and optimization of vanishing points, a linear calibration of intrinsic parameters, the improved Tsai′s two-steps for extrinsic parameters and a nonlinear global refinement. Experimental result demonstrates that the proposed algorithm is fast and accurate. After global optimization, the re-projective mean pixel error is 0.0043 pixel and the time consumption is 1.7911260 s. This novel method can be widely applied in fields including the computer vision research, the industry three-dimensional measurement and reconstruction and road mapping.