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In this paper, we present that determining camera intrinsic and pose parameters based on concentric circles via planar structure, then using circular points constraint camera intrinsic parameters by linear methods. Meanwhile to obtain camera pose parameters, we employ two orthogonal vanishing points on the images and hypothesis arbitrary point on the image is corresponded to the origin of the 3D world coordinate system by computing. By means of presented approach determining camera intrinsic and pose parameters. This method neither knowledge of concentric circles massage, nor matching problem about image points. Moreover, all the calculation is linear. At the same time, because in the real man-made environment existence many concentric circles, so the method is pragmatic. Numerical simulation and real image experiment demonstrate the method not only robustness but also accuracy of this new method.