Camera　calibration　has　been　studied　for　many　years　and　there　are　many　methods　available　to　find　the　parameters　precisely.　However,　most　existing　methods　require　information　of　the　known　scene　points　in　general　three-dimensional　positions　for　the　calibration.　A　simple,　geometrically　intuitive　method　is　proposed.　The　intrinsic　parameters　of　the　camera　are　determined　by　using　the　vanishing　points　in　each　image.　The　rotation　matrix　of　the　projection　matrix　is　computed　from　the　vanishing　and　image　edges　and　the　translation　matrix　are　obtained　with　additional　translation　motion　between　the　viewpoints.　Our　approach　does　not　need　any　a　priori　information　about　the　cameras　being　used.　Computer　simulations　and　real　data　experiments　are　carried　out　to　validate　our　method.　©　2007　Elsevier　Ltd.　All　rights　reserved.