Abstract: We present a review and classification of camera self-calibration techniques developed in recent years. Compared with traditional calibration techniques, self-calibration does not require a calibration object with known 3D geometry, but only needs point correspondences from images to solve for the intrinsic parameters. Our main focus is on dealing with the pinhole camera model with either constant or varying intrinsic parameters. In the end, we also give a brief review of self-calibration techniques under other camera models.