针对摄像机内参数的自标定问题，提出一种对中心折反射摄像机与针孔摄像机均适用的统一纯旋转自标定方法。应用统一球形成像模型对该两类摄像机进行描述；证明当摄像机坐标系做纯旋转运动时，空间静止点对应的球面投影点之间的距离保持不变；根据该性质构造具有统一形式的内参数约束方程组；提出最优化目标函数并利用数值优化算法进行求解。相比现有的自标定方法，该方法对上述两类摄像机均适用，而且无需进行复杂的矩阵数值运算。仿真与实验结果表明，该方法对图像噪声与微小平移具有较好的稳健性，并且具有操作简单以及标定精度高等优点。

A unified rotation-based self-calibration strategy, which can be applied to both central catadioptric cameras and pin-hole cameras, is proposed for camera intrinsic parameter self-calibration. The two types of cameras are described by a unified spherical projection model. It is proved that when the camera frame makes pure rotation, the distance between spherical projection points for any two static feature points remains unchanged, based on which, a set of constraint equations with respect to camera intrinsic parameters are designed. An optimization function is constructed and finally solved by numerical algorithms. Compared with existing methods, the proposed calibration scheme can be applied to both central catadioptric cameras and pin-hole cameras, and it does not need any complex matrix computation. Simulation and experimental results show that the proposed strategy presents such merits as good robustness regarding image noise and undesired small translation, easy implementation, and sufficiently high calibration precision.