A camera self-calibration method based on coplanar circles is presented.The algorithm utilizes the invariants in the Euclidean space such as circle radius,the distance between circle centres and norm of the supporting plane to solve the intrinsic parameters of camera through multi-views of coplanar circles.The proposed approach is simple and has higher accuracy and stability.The calibration result is obtained by non-linear optimizing method.The method has also the features of cover-resisting,and it has no n...