SUMMARYWe propose a simultaneous calibration scheme for computing the parameters of a continuously moving and continuously zooming camera by placing a planar pattern behind the object. We describe a procedure for computing an analytical solution which is exact in the absence of noise, estimating an optimal solution that attains the theoretical accuracy bound in the presence of noise, and evaluating the reliability of the computed solution. Finally, we show that degenerate configurations in which the solution is indeterminate and statistical fluctuations of computation can be avoided by model selection. This is done by comparing the model predicted from the history of the camera motion with the actually computed model by the geometric AIC. We confirm the effectiveness of our method by simulations and show real image examples. © 2001 Scripta Technica, Electron Comm Jpn Pt 3, 84(7): 1221, 2001