A systematic and deep research is carried out into the camera calibration methods based on the vanishing points theory and planar control fields. Then a practical algorithm to obtain the initial values of the exterior orientation elements is deduced by combining the theory of vanishing points and collinearity equations in planar scenes. Detection methods of signalized points based on 2D direct linear transformation was proposed. Mathematical model of bundle block adjustment with self calibration is given and the method of determining the;weight of every class of observations based on the calculating the QVVP is proposed. The performance between two camera calibration methods is compared and some valuable conclusions are acquired. It can provide some advices in practical applications. But how to realize the full automatic detection and localization of target points should be improved in the future.