利用正交消隐点的几何特性和不同位姿摄像机图像平面中对应消隐点间的无穷单应关系，提出了一种摄像机内参数的自标定方法。该方法在任意两个位置下拍摄两组正交平行线，获取两幅图像上共四个消隐点后，设计了判定算法确定其间的对应情况。利用对应消隐点之间的无穷单应关系，结合正交消隐点与摄像机光心连线的正交性建立约束方程，实现了对摄像机内参数的线性求解。为了抑制噪声对标定结果的影响，建立基于矩形成像反演点特性的指标函数，利用LM 寻优算法实现了对内参数的非线性优化。实验结果表明，该算法具有对应消隐点判断简单有效，标定结果精度高、实时性强、适用范围广的优点，而且参数优化能够有效地抑制图像噪声，提高了标定算法的稳健性。

Based on the geometrical property of orthogonal vanishing point and the infinite homograph relationship between corresponding vanishing points in different camera positions of the camera image plane, a camera intrinsic parameter self-calibration method is proposed. The proposed method takes in two sets of orthogonal parallel lines under any two positions, and four vanishing points in two images are achieved and decision algorithm is designed to determine their corresponding situations. Using the infinite homograph relationship between corresponding vanishing points, the constraint equation of orthogonal vanishing points and camera optical center line are established to realize the solution of the camera intrinsic parameters linearly. Aiming at restrain the influence of noise to the calibration result, the indicator function based on the inverse points of rectangle imaging is proposed, using LM optimization algorithm to achieve the intrinsic parameters of the nonlinear optimization. Experimental results show that the proposed method can judge corresponding vanishing points simply and effectively, the calibration results has high precision, strong real-time performance and wide application scope. The robustness of calibration algorithm is improved through parameter optimization to reduce the image noise.