The invention discloses a camera self-calibration method based on IOS-PSO (Internetwork Operating System-Particle Swarm Optimization). The method is relatively simple in algorithm, high in efficiency and high in optimizing result precision. The method mainly comprises three steps: S1, establishing an internal parameter-based cost function of a camera; S2, performing IOS-PSO on the cost function; and S3, limiting a rule for an IOS-PSO search result. The method comprises the following specific steps: acquiring four pictures of different angles of the same scenario; extracting and matching image feature points; solving three basis matrixes F by using the matched points and adopting an RANSAC (Random Sample Consensus) method, and then performing SVD (singular value decomposition) on the basis matrixes to construct the cost function as a fitness function of particle swarm optimization; dividing a set initial search interval, and setting a research rule according to the optimal value; taking five unknown internal parameters fu, fv, u0, v0 and s to be calibrated in the camera as particle elements of a particle swarm; performing IOS-PSO search; and if the search result accords with the search rule, selecting the final search result, otherwise, searching again. Contrast experiments of four algorithms verify that the calibration result of the method is accurate, stable and efficient.