Method and system for calibrating camera with rectification homography of imaged parallelogram

A system for calibrating a camera comprising:

• a rectification homography generator for obtaining a two-dimensional (2D) homography that maps each of parallelograms projected onto images taken by arbitrary two cameras into a rectangle, wherein the 2D homography is defined as a rectification homography and wherein new cameras that have virtual images are defined as rectified cameras and a new infinite homography is generated between two rectified cameras, the virtual images being transformed from an original images using the rectification homography;
• an infinite homography calculator for obtaining an original infinite homography by using the correlations among the new infinite homography, the rectification homography and the original infinite homography;
• and
• a camera calibrator for obtaining intrinsic camera parameters based on the correlation between the original infinite homography and the intrinsic camera parameters of the camera to calibrate the camera.