The invention discloses a rapid self-calibration method based on camera internal parameter estimation. The rapid self-calibration method comprises the following steps: S1 using a camera to obtain two pictures, having certain deflection angles, of the same scene; S2 calculating internal parameters of the camera according to summaries of the pictures; S3 finding corresponding matching point coordinates of the two pictures; and S4 calculating external parameters of the camera according to a single camera model, and completing self-calibration of the camera. Compared with existing camera self-calibration methods, the rapid self-calibration method has the advantages of high speed on the condition that the accurate rate is guaranteed.