Abstract: This paper presents the images of circular points of the plane on which the 1D object translates,the constraints of circular points to camera intrinsic parameters,and the numerical solution to the constraints equations(and then we obtain the camera intrinsic parameters).By recovering the coordinates of 3D points under camera coordinate system,we can resolve the poses between two cameras(i.e. the camera external parameters).For the general rigid motion of the 1D object, we give a method to transform it into the translation case.Experimental results of both simulated data and real-world data show that this method has a high accuracy and practical values.