In this paper a novel approach of calibrating the intrinsic and extrinsic parameters of binocular is proposed. It is based on surveying a rigid ball bar carrying three markers on its middle and extremities moved inside the working volume and it does not require other complex calibration equipment. Firstly

the principal point is assumed at a certain location around the image plane center. the fundamental matrix is found out by Hartley’s eight-point-algorithm. the semi-calibrated fundamental matrix is solved and decomposed by singular-value-decomposition method

and then the focal length is obtained linearly. Secondly

the essential matrix is educed and decomposed by singular-value-decomposition method

then the rotation matrix and translation vector with scale factor are obtained. Thirdly

the coordinates and the distance of the ball bar are solved by triangulation method

and then the scale factor is found out through the true distance of the ball bar. Finally

the estimation of intrinsic and extrinsic parameters of binocular is formulated as a nonlinear minimization problem of a cost function. By using the improved simulated annealing evolutionary strategy algorithm the optimal principal points of two cameras are found out iteratively

and then all parameters of cameras are optimized. In comparison with traditional methods

the novel approach can find out the intrinsic and extrinsic parameters all together

and need not constrain the movement of the one-dimensional object--ball bar. The improved simulated annealing evolutionary strategy algorithm mends and accelerates the global convergence performance.