The essential matrix

which is a fundamental matrix described in the normalized image coordinate

represents the epipolar geometry relation under the condition of known camera intrinsic parameters It is well known

two non-zero singular values of the essential matrix must be equal. Therefore

according to the intrinsic property

an essential matrix-based self-calibration approach is for proposed the first time in this paper. First

the objective function is constructed by the intrinsic property of the essential matrix. Second

the particle swarm optimization is used to solve the objective function considering the drawbacks of traditional optimization algorithms. Analytical results show that the proposed method is not only highly accurate but also robust. Consequently

it is a simple but valid self-calibration method