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This study proposed an automatic calibration processes including lens distortion correction and 3D positioning parameters optimization calibration of a 3D optoelectronic motion tracking system. The system consists of three line CCD sensor sets to sense the light of the IrLED markers attached on the moving object. Plucker Coordinate is employed to represent the lines in the system calibration and 3D position calculation process. This method, comparing to the point based method, improves the precision of the system. This motion tracker system is a versatile and a low cost 3D capturing system.