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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 and the rotation matrix of the projection matrix are determined by using the vanishing points in each image. 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.