A novel method for camera calibration is proposed based on an analysis of lens distortion in camera imaging. In the method, a line\nthrough the centre of concentric circles is used as a template in which orthogonal directions can be determined from an angle of\ncircumference that corresponds to a diameter. By using three lines through the centre of concentric circles, based on the invariance\nof the cross-ratio, an image at the centre of the concentric circles can be used to obtain the vanishing point.The intrinsic parameters\nof the camera can be computed based on the constraints of the orthogonal vanishing points and the imaged absolute conic. Thelens\ndistortion causes points in the template to have a position offset. In the proposedmethod,we optimize the positions of thedistortion\npoints such that they gradually approach those of the ideal points. The simulated and real-world experiments demonstrate that the\nproposed method is efficient and feasible.
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