A new method of camera calibration is proposed for active visual sensing for use in 3D analysis. The method, based on a variation of the two plane camera model, permits the calibration of a mobile camera as a function of the position and orientation of the camera. The algorithm for identification of the calibration matrices is divided into two steps; first, calibration for a fixed position of the camera; and second, calibration as a function of the position and orientation of the camera, utilizing the prior information of the fixed position. The calibration procedure for the fixed position is a linear square method; the calibration procedure for the second method has been modified so as to obtain an analytical solution