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In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences betweendoi:10.1109/iros.2001.976263 dblp:conf/iros/KimK01 fatcat:x4n7wbup2jda5kha64kalt5bn4