A new method of camera calibration is proposed for active visual sensing for use in three-dimensional (3D) scene analysis. The method permits 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 (i. e. , the transformation between the real-world coordinates and the coordinates of the corresponding points in the image plane of the camera); second, calibration as a function of the position and orientation of the camera, which uses the prior information of the calibration for a fixed position. The method can be used for any mobile camera as long as the movement of the camera support is known.