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In this article we describe a calibration procedure of a binocular camera head with two independent pan and tilt axes. For the calibration procedure itself no separate rotations of the respective axes and no fixation is required. To get reliable calibration data just a plane surface with known 2D coordinates of distinguishable target points is needed. This publication describes facts and techniques that are known to the robotic people but mostly unknown to the computer vision society.

Easy calibration of pan/tilt camera heads and online computation of the epipolar correspondences